pcl_ros: boundary.h Source File

00001 /*
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00034  * $Id: boundary.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_BOUNDARY_H_
00039 #define PCL_ROS_BOUNDARY_H_
00040 
00041 #include <pcl/features/boundary.h>
00042 #include "pcl_ros/features/feature.h"
00043 
00044 namespace pcl_ros
00045 {
00047 
00054   class BoundaryEstimation: public FeatureFromNormals
00055   {
00056     private:
00057       pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> impl_;
00058       
00059       typedef pcl::PointCloud<pcl::Boundary> PointCloudOut;
00060 
00062       inline bool 
00063       childInit (ros::NodeHandle &nh)
00064       {
00065         // Create the output publisher
00066         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00067         return (true);
00068       }
00069 
00071       void emptyPublish (const PointCloudInConstPtr &cloud);
00072 
00074       void computePublish (const PointCloudInConstPtr &cloud, 
00075                            const PointCloudNConstPtr &normals,
00076                            const PointCloudInConstPtr &surface,
00077                            const IndicesConstPtr &indices);
00078 
00079     public:
00080       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00081   };
00082 }
00083 
00084 #endif  //#ifndef PCL_ROS_BOUNDARY_H_
00085 
00086