40 #ifndef PCL_SPIN_IMAGE_H_
41 #define PCL_SPIN_IMAGE_H_
43 #include <pcl/point_types.h>
44 #include <pcl/features/feature.h>
87 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
91 typedef boost::shared_ptr<SpinImageEstimation<PointInT, PointNT, PointOutT> >
Ptr;
92 typedef boost::shared_ptr<const SpinImageEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
122 double support_angle_cos = 0.0,
123 unsigned int min_pts_neighb = 0);
135 image_width_ = bin_count;
147 if (0.0 > support_angle_cos || support_angle_cos > 1.0)
149 throw PCLException (
"Cosine of support angle should be between 0 and 1",
150 "spin_image.h",
"setSupportAngle");
153 support_angle_cos_ = support_angle_cos;
164 min_pts_neighb_ = min_pts_neighb;
180 input_normals_ = normals;
191 rotation_axis_ = axis;
192 use_custom_axis_ =
true;
193 use_custom_axes_cloud_ =
false;
205 rotation_axes_cloud_ = axes;
207 use_custom_axes_cloud_ =
true;
208 use_custom_axis_ =
false;
215 use_custom_axis_ =
false;
216 use_custom_axes_cloud_ =
false;
271 PointNT rotation_axis_;
272 bool use_custom_axis_;
273 bool use_custom_axes_cloud_;
277 unsigned int image_width_;
278 double support_angle_cos_;
279 unsigned int min_pts_neighb_;
283 #ifdef PCL_NO_PRECOMPILE
284 #include <pcl/features/impl/spin_image.hpp>
287 #endif //#ifndef PCL_SPIN_IMAGE_H_