normal_estimation_integral_image.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Ryohei Ueda and JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
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00018  *   * Neither the name of the JSK Lab nor the names of its
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 #ifndef JSK_PCL_ROS_NORMAL_ESTIMATION_INTEGRAL_IMAGE_H_
00036 #define JSK_PCL_ROS_NORMAL_ESTIMATION_INTEGRAL_IMAGE_H_
00037 
00038 #include <ros/ros.h>
00039 #include <ros/names.h>
00040 #include <sensor_msgs/PointCloud2.h>
00041 
00042 #include <pcl_ros/pcl_nodelet.h>
00043 #include <dynamic_reconfigure/server.h>
00044 #include "jsk_pcl_ros/NormalEstimationIntegralImageConfig.h"
00045 #include <jsk_topic_tools/connection_based_nodelet.h>
00046 
00047 namespace jsk_pcl_ros
00048 {
00049   class NormalEstimationIntegralImage:
00050     public jsk_topic_tools::ConnectionBasedNodelet
00051   {
00052   public:
00053     typedef jsk_pcl_ros::NormalEstimationIntegralImageConfig Config;    
00054   protected:
00055     ros::Subscriber sub_input_;
00056     ros::Publisher pub_;
00057     ros::Publisher pub_with_xyz_;
00058     boost::mutex mutex_;
00059     int estimation_method_;
00060     bool depth_dependent_smoothing_;
00061     double max_depth_change_factor_;
00062     double normal_smoothing_size_;
00063     bool border_policy_ignore_;
00064     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00065     virtual void configCallback (Config& config, uint32_t level);
00066     virtual void compute(const sensor_msgs::PointCloud2::ConstPtr& msg);
00067     virtual void subscribe();
00068     virtual void unsubscribe();
00069   private:
00070     virtual void onInit();
00071   };
00072 }
00073 
00074 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43