00001 00063 #include <pcl/point_types.h> 00064 00065 // package includes: 00066 #include "cob_3d_mapping_common/point_types.h" 00067 #include "cob_3d_segmentation/impl/depth_segmentation.hpp" 00068 00069 namespace cob_3d_segmentation 00070 { 00071 typedef PointLabel L; 00072 typedef pcl::PointXYZRGB P; 00073 typedef pcl::Normal N; 00074 typedef DepthClusterHandler<L,P,N> CH; 00075 typedef BoundaryPointsEdgeHandler<L,P> EH; 00076 typedef ClusterGraphStructure<CH,EH> G; 00077 00078 template class DepthSegmentation<G,P,N,L>; 00079 }