pcl_ros: fpfh.h Source File

00001 /*
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00034  * $Id: fpfh.h 35361 2011-01-20 04:34:49Z rusu $
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00036  */
00037 
00038 #ifndef PCL_ROS_FPFH_H_
00039 #define PCL_ROS_FPFH_H_
00040 
00041 #include <pcl/features/fpfh.h>
00042 #include "pcl_ros/features/pfh.h"
00043 
00044 namespace pcl_ros
00045 {
00068   class FPFHEstimation : public FeatureFromNormals
00069   {
00070     private:
00071       pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> impl_;
00072 
00073       typedef pcl::PointCloud<pcl::FPFHSignature33> PointCloudOut;
00074 
00076       inline bool 
00077       childInit (ros::NodeHandle &nh)
00078       {
00079         // Create the output publisher
00080         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00081         return (true);
00082       }
00083 
00085       void emptyPublish (const PointCloudInConstPtr &cloud);
00086 
00088       void computePublish (const PointCloudInConstPtr &cloud,
00089                            const PointCloudNConstPtr &normals,
00090                            const PointCloudInConstPtr &surface,
00091                            const IndicesConstPtr &indices);
00092 
00093     public:
00094       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00095   };
00096 }
00097 
00098 #endif  //#ifndef PCL_FPFH_H_
00099 
00100