principal_curvatures.h

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#ifndef PCL_PRINCIPAL_CURVATURES_H_
#define PCL_PRINCIPAL_CURVATURES_H_

#include <pcl/features/eigen.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::PrincipalCurvatures>
  class PrincipalCurvaturesEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::input_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef pcl::PointCloud<PointInT> PointCloudIn;

      PrincipalCurvaturesEstimation () : 
        projected_normals_ (), 
        xyz_centroid_ (Eigen::Vector3f::Zero ()), 
        demean_ (Eigen::Vector3f::Zero ()),
        covariance_matrix_ (Eigen::Matrix3f::Zero ()),
        eigenvector_ (Eigen::Vector3f::Zero ()),
        eigenvalues_ (Eigen::Vector3f::Zero ())
      {
        feature_name_ = "PrincipalCurvaturesEstimation";
      };

      void
      computePointPrincipalCurvatures (const pcl::PointCloud<PointNT> &normals,
                                       int p_idx, const std::vector<int> &indices,
                                       float &pcx, float &pcy, float &pcz, float &pc1, float &pc2);

    protected:

      void
      computeFeature (PointCloudOut &output);

    private:
      std::vector<Eigen::Vector3f> projected_normals_;

      Eigen::Vector3f xyz_centroid_;

      Eigen::Vector3f demean_;

      EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;

      Eigen::Vector3f eigenvector_;
      Eigen::Vector3f eigenvalues_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/principal_curvatures.hpp>
#endif

#endif  //#ifndef PCL_PRINCIPAL_CURVATURES_H_