<commit_before>/*
 * vfh_estimator.h
 *
 *  Created on: Mar 22, 2012
 *      Author: aitor
 */

#ifndef FAAT_PCL_REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_
#define FAAT_PCL_REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_

#include "global_estimator.h"
#include "normal_estimator.h"
#include <pcl/features/our_cvfh.h>
#include <pcl/surface/mls.h>

namespace v4r
{
    template<typename PointInT, typename FeatureT>
      class OURCVFHEstimator : public GlobalEstimator<PointInT, FeatureT>
      {

      protected:
        typedef typename pcl::PointCloud<PointInT>::Ptr PointInTPtr;
        using GlobalEstimator<PointInT, FeatureT>::normal_estimator_;
        using GlobalEstimator<PointInT, FeatureT>::normals_;
        float eps_angle_threshold_;
        float curvature_threshold_;
        float cluster_tolerance_factor_;

        std::vector<float> eps_angle_threshold_vector_;
        std::vector<float> curvature_threshold_vector_;
        std::vector<float> cluster_tolerance_vector_;

        bool normalize_bins_;
        bool adaptative_MLS_;
        float refine_factor_;

        std::vector<bool> valid_roll_transforms_;
        std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > transforms_;
        std::vector<pcl::PointIndices> cluster_indices_;

        float axis_ratio_;
        float min_axis_value_;
        bool organized_data_;

      public:

        OURCVFHEstimator ()
        {
          eps_angle_threshold_ = 0.13f;
          curvature_threshold_ = 0.035f;
          normalize_bins_ = true;
          cluster_tolerance_factor_ = 3.f;<commit_msg>fixed vector conflict with different PCL versions<commit_after>/*
 * vfh_estimator.h
 *
 *  Created on: Mar 22, 2012
 *      Author: aitor
 */

#ifndef FAAT_PCL_REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_
#define FAAT_PCL_REC_FRAMEWORK_OURCVFH_ESTIMATOR_H_

#include "global_estimator.h"
#include "normal_estimator.h"
#include <pcl/features/our_cvfh.h>
#include <pcl/surface/mls.h>
#include <pcl/pcl_config.h>

namespace v4r
{
    template<typename PointInT, typename FeatureT>
      class OURCVFHEstimator : public GlobalEstimator<PointInT, FeatureT>
      {

      protected:
        typedef typename pcl::PointCloud<PointInT>::Ptr PointInTPtr;
        using GlobalEstimator<PointInT, FeatureT>::normal_estimator_;
        using GlobalEstimator<PointInT, FeatureT>::normals_;
        float eps_angle_threshold_;
        float curvature_threshold_;
        float cluster_tolerance_factor_;

        std::vector<float> eps_angle_threshold_vector_;
        std::vector<float> curvature_threshold_vector_;
        std::vector<float> cluster_tolerance_vector_;

        bool normalize_bins_;
        bool adaptative_MLS_;
        float refine_factor_;

        std::vector<bool> valid_roll_transforms_;
#if PCL_VERSION < 100800
        std::vector<Eigen::Matrix4f> transforms_;
#else
        std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > transforms_;
#endif
        std::vector<pcl::PointIndices> cluster_indices_;

        float axis_ratio_;
        float min_axis_value_;
        bool organized_data_;

      public:

        OURCVFHEstimator ()
        {
          eps_angle_threshold_ = 0.13f;
          curvature_threshold_ = 0.035f;
          normalize_bins_ = true;
          cluster_tolerance_factor_ = 3.f;
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