37 #ifndef PCL_ROS_SHOT_H_ 38 #define PCL_ROS_SHOT_H_ 40 #include <pcl/features/shot.h> 51 pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352>
impl_;
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
78 #endif //#ifndef PCL_SHOT_H_
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
pcl::PointCloud< pcl::SHOT352 > PointCloudOut
PointCloudN::ConstPtr PointCloudNConstPtr
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
pcl::SHOTEstimation< pcl::PointXYZ, pcl::Normal, pcl::SHOT352 > impl_
SHOTEstimation estimates SHOT descriptor.
int max_queue_size_
The maximum queue size (default: 3).
ros::Publisher pub_output_
The output PointCloud publisher.
PointCloudIn::ConstPtr PointCloudInConstPtr