normal_3d_omp.h
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37 
38 #ifndef PCL_ROS_NORMAL_3D_OMP_H_
39 #define PCL_ROS_NORMAL_3D_OMP_H_
40 
41 #include <pcl/features/normal_3d_omp.h>
43 
44 namespace pcl_ros
45 {
51  {
52  private:
53  pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> impl_;
54 
55  typedef pcl::PointCloud<pcl::Normal> PointCloudOut;
56 
58  inline bool
60  {
61  // Create the output publisher
62  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
63  return (true);
64  }
65 
67  void emptyPublish (const PointCloudInConstPtr &cloud);
68 
70  void computePublish (const PointCloudInConstPtr &cloud,
71  const PointCloudInConstPtr &surface,
72  const IndicesPtr &indices);
73 
74  public:
75  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76  };
77 }
78 
79 #endif //#ifndef PCL_ROS_NORMAL_3D_OMP_H_
pcl::IndicesPtr IndicesPtr
Definition: feature.h:75
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: normal_3d_omp.h:59
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and ...
Definition: normal_3d_omp.h:50
pcl::NormalEstimationOMP< pcl::PointXYZ, pcl::Normal > impl_
Definition: normal_3d_omp.h:53
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
pcl::PointCloud< pcl::Normal > PointCloudOut
Definition: normal_3d_omp.h:55
int max_queue_size_
The maximum queue size (default: 3).
Definition: pcl_nodelet.h:128
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:125
Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...
Definition: feature.h:65
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Feb 16 2023 03:08:02