38 #ifndef PCL_SMOOTHEDSURFACESKEYPOINT_H_
39 #define PCL_SMOOTHEDSURFACESKEYPOINT_H_
41 #include <pcl/keypoints/keypoint.h>
54 template <
typename Po
intT,
typename Po
intNT>
58 typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> >
Ptr;
59 typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> >
ConstPtr;
75 neighborhood_constant_ (0.5f),
84 name_ =
"SmoothedSurfacesKeypoint";
120 float neighborhood_constant_;
121 std::vector<PointCloudTConstPtr> clouds_;
122 std::vector<PointCloudNTConstPtr> cloud_normals_;
123 std::vector<KdTreePtr> cloud_trees_;
125 std::vector<std::pair<float, size_t> > scales_;
130 compareScalesFunction (
const std::pair<float, size_t> &a,
131 const std::pair<float, size_t> &b) {
return a.first < b.first; }