fpfh_omp.h
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37 
38 #ifndef PCL_ROS_FPFH_OMP_H_
39 #define PCL_ROS_FPFH_OMP_H_
40 
41 #include <pcl/features/fpfh_omp.h>
42 #include "pcl_ros/features/fpfh.h"
43 
44 namespace pcl_ros
45 {
66  {
67  private:
68  pcl::FPFHEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> impl_;
69 
70  typedef pcl::PointCloud<pcl::FPFHSignature33> PointCloudOut;
71 
73  inline bool
75  {
76  // Create the output publisher
77  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
78  return (true);
79  }
80 
82  void emptyPublish (const PointCloudInConstPtr &cloud);
83 
85  void computePublish (const PointCloudInConstPtr &cloud,
86  const PointCloudNConstPtr &normals,
87  const PointCloudInConstPtr &surface,
88  const IndicesPtr &indices);
89 
90  public:
91  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
92  };
93 }
94 
95 #endif //#ifndef PCL_ROS_FPFH_OMP_H_
96 
pcl::FPFHEstimationOMP< pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33 > impl_
Definition: fpfh_omp.h:68
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point clou...
Definition: fpfh_omp.h:65
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.
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
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
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: fpfh_omp.h:74
pcl::PointCloud< pcl::FPFHSignature33 > PointCloudOut
Definition: fpfh_omp.h:70


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:52