principal_curvatures.h
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00001 /*
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00034  * $Id: principal_curvatures.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
00039 #define PCL_ROS_PRINCIPAL_CURVATURES_H_
00040 
00041 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
00042 #include <pcl/features/principal_curvatures.h>
00043 #include "pcl_ros/features/feature.h"
00044 
00045 namespace pcl_ros
00046 {
00054   class PrincipalCurvaturesEstimation : public FeatureFromNormals
00055   {
00056     private:
00057       pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> impl_;
00058 
00059       typedef pcl::PointCloud<pcl::PrincipalCurvatures> 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 
00071       void emptyPublish (const PointCloudInConstPtr &cloud);
00072 
00074       void computePublish (const PointCloudInConstPtr &cloud,
00075                            const PointCloudNConstPtr &normals,
00076                            const PointCloudInConstPtr &surface,
00077                            const IndicesPtr &indices);
00078 
00079     public:
00080       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00081   };
00082 }
00083 
00084 #endif  //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_


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