41 #ifndef PCL_FEATURES_CVFH_H_
42 #define PCL_FEATURES_CVFH_H_
44 #include <pcl/features/feature.h>
45 #include <pcl/features/vfh.h>
46 #include <pcl/search/pcl_search.h>
47 #include <pcl/common/common.h>
63 template<
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::VFHSignature308>
67 typedef boost::shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> >
Ptr;
68 typedef boost::shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
84 vpx_ (0), vpy_ (0), vpz_ (0),
86 normalize_bins_ (false),
87 curv_threshold_ (0.03f),
88 cluster_tolerance_ (leaf_size_ * 3),
89 eps_angle_threshold_ (0.125f),
91 radius_normals_ (leaf_size_ * 3),
109 std::vector<int> &indices_in,
float threshold);
130 radius_normals_ = radius_normals;
173 cluster_tolerance_ = d;
182 eps_angle_threshold_ = d;
209 normalize_bins_ = normalize;
222 float vpx_, vpy_, vpz_;
230 bool normalize_bins_;
233 float curv_threshold_;
236 float cluster_tolerance_;
239 float eps_angle_threshold_;
247 float radius_normals_;
276 std::vector<pcl::PointIndices> &clusters,
double eps_angle,
277 unsigned int min_pts_per_cluster = 1,
278 unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) ());
288 #ifdef PCL_NO_PRECOMPILE
289 #include <pcl/features/impl/cvfh.hpp>
292 #endif //#ifndef PCL_FEATURES_CVFH_H_