moment_invariants.h

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 * $Id: moment_invariants.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
#define PCL_ROS_MOMENT_INVARIANTS_H_

#include <pcl/features/moment_invariants.h>
#include "pcl_ros/features/feature.h"

namespace pcl_ros
{
  class MomentInvariantsEstimation: public Feature
  {
    private:
      pcl::MomentInvariantsEstimation<pcl::PointXYZ, pcl::MomentInvariants> impl_;

      typedef pcl::PointCloud<pcl::MomentInvariants> 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 PointCloudInConstPtr &surface,
                           const IndicesPtr &indices);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_MOMENT_INVARIANTS_H_