vfh.h
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37 
38 #ifndef PCL_ROS_FEATURES_VFH_H_
39 #define PCL_ROS_FEATURES_VFH_H_
40 
41 #include <pcl/features/vfh.h>
42 #include "pcl_ros/features/fpfh.h"
43 
44 namespace pcl_ros
45 {
54  {
55  private:
56  pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> impl_;
57 
58  typedef pcl::PointCloud<pcl::VFHSignature308> PointCloudOut;
59 
61  inline bool
63  {
64  // Create the output publisher
65  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
66  return (true);
67  }
68 
70  void emptyPublish (const PointCloudInConstPtr &cloud);
71 
73  void computePublish (const PointCloudInConstPtr &cloud,
74  const PointCloudNConstPtr &normals,
75  const PointCloudInConstPtr &surface,
76  const IndicesPtr &indices);
77 
78  public:
79  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
80  };
81 }
82 
83 #endif //#ifndef PCL_ROS_FEATURES_VFH_H_
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud data...
Definition: vfh.h:53
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
pcl::PointCloud< pcl::VFHSignature308 > PointCloudOut
Definition: vfh.h:58
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: feature.h:195
pcl::VFHEstimation< pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308 > impl_
Definition: vfh.h:56
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: vfh.h:62


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