shot.h
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36 
37 #ifndef PCL_ROS_SHOT_H_
38 #define PCL_ROS_SHOT_H_
39 
40 #include <pcl/features/shot.h>
41 #include "pcl_ros/features/pfh.h"
42 
43 namespace pcl_ros
44 {
49  {
50  private:
51  pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;
52 
53  typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;
54 
56  inline bool
58  {
59  // Create the output publisher
60  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
61  return (true);
62  }
63 
65  void emptyPublish (const PointCloudInConstPtr &cloud);
66 
68  void computePublish (const PointCloudInConstPtr &cloud,
69  const PointCloudNConstPtr &normals,
70  const PointCloudInConstPtr &surface,
71  const IndicesPtr &indices);
72 
73  public:
74  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75  };
76 }
77 
78 #endif //#ifndef PCL_SHOT_H_
79 
80 
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: shot.h:57
pcl::PointCloud< pcl::SHOT352 > PointCloudOut
Definition: shot.h:53
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: feature.h:195
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
Definition: shot.cpp:49
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
Definition: shot.cpp:41
pcl::SHOTEstimation< pcl::PointXYZ, pcl::Normal, pcl::SHOT352 > impl_
Definition: shot.h:51
SHOTEstimation estimates SHOT descriptor.
Definition: shot.h:48
int max_queue_size_
The maximum queue size (default: 3).
Definition: pcl_nodelet.h:127
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:124
PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: feature.h:74


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18