41 #ifndef PCL_PRINCIPAL_CURVATURES_H_
42 #define PCL_PRINCIPAL_CURVATURES_H_
44 #include <pcl/features/eigen.h>
45 #include <pcl/features/feature.h>
60 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PrincipalCurvatures>
64 typedef boost::shared_ptr<PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> >
Ptr;
65 typedef boost::shared_ptr<const PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
80 projected_normals_ (),
81 xyz_centroid_ (Eigen::Vector3f::Zero ()),
82 demean_ (Eigen::Vector3f::Zero ()),
83 covariance_matrix_ (Eigen::Matrix3f::Zero ()),
84 eigenvector_ (Eigen::Vector3f::Zero ()),
85 eigenvalues_ (Eigen::Vector3f::Zero ())
104 int p_idx,
const std::vector<int> &indices,
105 float &pcx,
float &pcy,
float &pcz,
float &pc1,
float &pc2);
119 std::vector<Eigen::Vector3f> projected_normals_;
122 Eigen::Vector3f xyz_centroid_;
125 Eigen::Vector3f demean_;
131 Eigen::Vector3f eigenvector_;
133 Eigen::Vector3f eigenvalues_;
137 #ifdef PCL_NO_PRECOMPILE
138 #include <pcl/features/impl/principal_curvatures.hpp>
141 #endif //#ifndef PCL_PRINCIPAL_CURVATURES_H_