normal_3d.h
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00001 /*
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00034  * $Id: normal_3d.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_NORMAL_3D_H_
00039 #define PCL_ROS_NORMAL_3D_H_
00040 
00041 #include <pcl/features/normal_3d.h>
00042 #include "pcl_ros/features/feature.h"
00043 
00044 namespace pcl_ros
00045 {
00053   class NormalEstimation: public Feature
00054   {
00055     private:
00057       pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> impl_;
00058 
00059       typedef pcl::PointCloud<pcl::Normal> 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 
00073       void emptyPublish (const PointCloudInConstPtr &cloud);
00074 
00076       void computePublish (const PointCloudInConstPtr &cloud,
00077                            const PointCloudInConstPtr &surface,
00078                            const IndicesPtr &indices);
00079 
00080     public:
00081       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00082   };
00083 }
00084 
00085 #endif  //#ifndef PCL_ROS_NORMAL_3D_H_
00086 
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41