boundary.h
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34  * $Id: boundary.h 35361 2011-01-20 04:34:49Z rusu $
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37 
38 #ifndef PCL_ROS_BOUNDARY_H_
39 #define PCL_ROS_BOUNDARY_H_
40 
41 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
42 
43 #include <pcl/features/boundary.h>
45 
46 namespace pcl_ros
47 {
49 
57  {
58  private:
59  pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> impl_;
60 
61  typedef pcl::PointCloud<pcl::Boundary> PointCloudOut;
62 
64  inline bool
66  {
67  // Create the output publisher
68  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
69  return (true);
70  }
71 
73  void emptyPublish (const PointCloudInConstPtr &cloud);
74 
76  void computePublish (const PointCloudInConstPtr &cloud,
77  const PointCloudNConstPtr &normals,
78  const PointCloudInConstPtr &surface,
79  const IndicesPtr &indices);
80 
81  public:
82  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
83  };
84 }
85 
86 #endif //#ifndef PCL_ROS_BOUNDARY_H_
87 
88 
pcl::BoundaryEstimation< pcl::PointXYZ, pcl::Normal, pcl::Boundary > impl_
Definition: boundary.h:59
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
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.
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...
Definition: boundary.h:56
pcl::PointCloud< pcl::Boundary > PointCloudOut
Definition: boundary.h:61
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: boundary.h:65
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 Wed Jun 5 2019 19:52:52