pcl_ros: principal_curvatures.h Source File

00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id: principal_curvatures.h 35361 2011-01-20 04:34:49Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
00039 #define PCL_ROS_PRINCIPAL_CURVATURES_H_
00040 
00041 #include <pcl/features/principal_curvatures.h>
00042 #include "pcl_ros/features/feature.h"
00043 
00044 namespace pcl_ros
00045 {
00053   class PrincipalCurvaturesEstimation : public FeatureFromNormals
00054   {
00055     private:
00056       pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> impl_;
00057 
00058       typedef pcl::PointCloud<pcl::PrincipalCurvatures> PointCloudOut;
00059 
00061       inline bool 
00062       childInit (ros::NodeHandle &nh)
00063       {
00064         // Create the output publisher
00065         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00066         return (true);
00067       }
00068 
00070       void emptyPublish (const PointCloudInConstPtr &cloud);
00071 
00073       void computePublish (const PointCloudInConstPtr &cloud,
00074                            const PointCloudNConstPtr &normals,
00075                            const PointCloudInConstPtr &surface,
00076                            const IndicesConstPtr &indices);
00077 
00078     public:
00079       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00080   };
00081 }
00082 
00083 #endif  //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_