boundary.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2009, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id: boundary.h 35361 2011-01-20 04:34:49Z rusu $
35  *
36  */
37 
38 #ifndef PCL_ROS_BOUNDARY_H_
39 #define PCL_ROS_BOUNDARY_H_
40 
41 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
42 
43 #include <pcl/features/boundary.h>
45 
46 namespace pcl_ros
47 {
49 
57  {
58  private:
59  pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> impl_;
60 
61  typedef pcl::PointCloud<pcl::Boundary> PointCloudOut;
62 
64  inline bool
66  {
67  // Create the output publisher
68  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
69  return (true);
70  }
71 
73  void emptyPublish (const PointCloudInConstPtr &cloud);
74 
76  void computePublish (const PointCloudInConstPtr &cloud,
77  const PointCloudNConstPtr &normals,
78  const PointCloudInConstPtr &surface,
79  const IndicesPtr &indices);
80 
81  public:
82  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
83  };
84 }
85 
86 #endif //#ifndef PCL_ROS_BOUNDARY_H_
87 
88 
pcl::BoundaryEstimation< pcl::PointXYZ, pcl::Normal, pcl::Boundary > impl_
Definition: boundary.h:59
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
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.
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...
Definition: boundary.h:56
pcl::PointCloud< pcl::Boundary > PointCloudOut
Definition: boundary.h:61
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: boundary.h:65
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


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18