vfh.h

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/*
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 * $Id: vfh.h 35361 2011-01-20 04:34:49Z rusu $
 *
 */
 
#ifndef PCL_ROS_FEATURES_VFH_H_
#define PCL_ROS_FEATURES_VFH_H_
 
#include <pcl/features/vfh.h>
#include "pcl_ros/features/feature.h"
 
namespace pcl_ros
{
  class VFHEstimation : public FeatureFromNormals
  {
    private:
      pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> impl_;
 
      typedef pcl::PointCloud<pcl::VFHSignature308> PointCloudOut;
 
      inline bool 
      childInit (ros::NodeHandle &nh)
      {
        // Create the output publisher
        pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
        return (true);
      }
 
      void emptyPublish (const PointCloudInConstPtr &cloud);
 
      void computePublish (const PointCloudInConstPtr &cloud,
                           const PointCloudNConstPtr &normals,
                           const PointCloudInConstPtr &surface,
                           const IndicesPtr &indices);
 
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_ROS_FEATURES_VFH_H_