boundary.h
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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 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
00042 
00043 #include <pcl/features/boundary.h>
00044 #include "pcl_ros/features/feature.h"
00045 
00046 namespace pcl_ros
00047 {
00049 
00056   class BoundaryEstimation: public FeatureFromNormals
00057   {
00058     private:
00059       pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> impl_;
00060 
00061       typedef pcl::PointCloud<pcl::Boundary> PointCloudOut;
00062 
00064       inline bool
00065       childInit (ros::NodeHandle &nh)
00066       {
00067         // Create the output publisher
00068         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00069         return (true);
00070       }
00071 
00073       void emptyPublish (const PointCloudInConstPtr &cloud);
00074 
00076       void computePublish (const PointCloudInConstPtr &cloud,
00077                            const PointCloudNConstPtr &normals,
00078                            const PointCloudInConstPtr &surface,
00079                            const IndicesPtr &indices);
00080 
00081     public:
00082       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00083   };
00084 }
00085 
00086 #endif  //#ifndef PCL_ROS_BOUNDARY_H_
00087 
00088 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:30