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: pfh.h 35361 2011-01-20 04:34:49Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_PFH_H_ 00039 #define PCL_ROS_PFH_H_ 00040 00041 #include <pcl/features/pfh.h> 00042 #include "pcl_ros/features/feature.h" 00043 00044 namespace pcl_ros 00045 { 00068 class PFHEstimation : public FeatureFromNormals 00069 { 00070 private: 00071 pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> impl_; 00072 00073 typedef pcl::PointCloud<pcl::PFHSignature125> 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 IndicesPtr &indices); 00092 00093 public: 00094 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00095 }; 00096 } 00097 00098 #endif //#ifndef PCL_ROS_PFH_H_ 00099 00100