moving_least_squares.h
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00001 /*
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00034  * $Id: moving_least_squares.h 36097 2011-02-20 14:18:58Z marton $
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00037 
00038 #ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
00039 #define PCL_ROS_MOVING_LEAST_SQUARES_H_
00040 
00041 #include "pcl_ros/pcl_nodelet.h"
00042 
00043 // PCL includes
00044 #include <pcl/surface/mls.h>
00045 
00046 // Dynamic reconfigure
00047 #include <dynamic_reconfigure/server.h>
00048 #include "pcl_ros/MLSConfig.h"   
00049 
00050 namespace pcl_ros
00051 {
00052   namespace sync_policies = message_filters::sync_policies;
00053 
00059   class MovingLeastSquares : public PCLNodelet
00060   {
00061     typedef pcl::PointXYZ PointIn;
00062     typedef pcl::PointNormal NormalOut;
00063 
00064     typedef pcl::PointCloud<PointIn> PointCloudIn;
00065     typedef PointCloudIn::Ptr PointCloudInPtr;
00066     typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
00067     typedef pcl::PointCloud<NormalOut> NormalCloudOut;
00068 
00069     typedef pcl::KdTree<PointIn> KdTree;
00070     typedef pcl::KdTree<PointIn>::Ptr KdTreePtr; 
00071 
00072     protected:
00074       PointCloudInConstPtr surface_;
00075 
00077       KdTreePtr tree_;
00078 
00080       double search_radius_;
00081 
00083       //int k_;
00084 
00086       bool use_polynomial_fit_;
00087 
00089       int polynomial_order_;
00090 
00092       double gaussian_parameter_;
00093 
00094       // ROS nodelet attributes
00096       message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
00097       
00103       int spatial_locator_type_;
00104     
00106       boost::shared_ptr <dynamic_reconfigure::Server<MLSConfig> > srv_;
00107 
00112       void config_callback (MLSConfig &config, uint32_t level); 
00113     
00114     private:
00116       virtual void onInit ();
00117 
00122       void input_indices_callback (const PointCloudInConstPtr &cloud, 
00123                                    const PointIndicesConstPtr &indices);
00124 
00125 
00126     private:
00128       pcl::MovingLeastSquares<PointIn, NormalOut> impl_;
00129       
00131       ros::Subscriber sub_input_;
00132 
00134       ros::Publisher pub_normals_;
00135 
00137       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointIndices> > >       sync_input_indices_e_;
00138       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointIndices> > > sync_input_indices_a_;
00139 
00140     public:
00141       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00142   };
00143 }
00144 
00145 #endif  //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu May 5 2016 04:16:43