pcl_ros: moment_invariants.h Source File

00001 /*
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00034  * $Id: moment_invariants.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_MOMENT_INVARIANTS_H_
00039 #define PCL_ROS_MOMENT_INVARIANTS_H_
00040 
00041 #include <pcl/features/moment_invariants.h>
00042 #include "pcl_ros/features/feature.h"
00043 
00044 namespace pcl_ros
00045 {
00052   class MomentInvariantsEstimation: public Feature
00053   {
00054     private:
00055       pcl::MomentInvariantsEstimation<pcl::PointXYZ, pcl::MomentInvariants> impl_;
00056 
00057       typedef pcl::PointCloud<pcl::MomentInvariants> PointCloudOut;
00058 
00060       inline bool 
00061       childInit (ros::NodeHandle &nh)
00062       {
00063         // Create the output publisher
00064         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00065         return (true);
00066       }
00067 
00069       void emptyPublish (const PointCloudInConstPtr &cloud);
00070 
00072       void computePublish (const PointCloudInConstPtr &cloud,
00073                            const PointCloudInConstPtr &surface,
00074                            const IndicesConstPtr &indices);
00075 
00076     public:
00077       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00078   };
00079 }
00080 
00081 #endif  //#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
00082 
00083