41 #ifndef PCL_FEATURES_VFH_H_
42 #define PCL_FEATURES_VFH_H_
44 #include <pcl/point_types.h>
45 #include <pcl/features/feature.h>
70 template<
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::VFHSignature308>
84 typedef typename boost::shared_ptr<VFHEstimation<PointInT, PointNT, PointOutT> >
Ptr;
85 typedef typename boost::shared_ptr<const VFHEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
90 nr_bins_f1_ (45), nr_bins_f2_ (45), nr_bins_f3_ (45), nr_bins_f4_ (45), nr_bins_vp_ (128),
91 vpx_ (0), vpy_ (0), vpz_ (0),
95 d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
117 const std::vector<int> &indices);
157 normal_to_use_ = Eigen::Vector4f (normal[0], normal[1], normal[2], 0);
176 centroid_to_use_ = Eigen::Vector4f (centroid[0], centroid[1], centroid[2], 0);
217 int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_, nr_bins_f4_, nr_bins_vp_;
222 float vpx_, vpy_, vpz_;
272 #ifdef PCL_NO_PRECOMPILE
273 #include <pcl/features/impl/vfh.hpp>
276 #endif //#ifndef PCL_FEATURES_VFH_H_