principal_curvatures.h
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37 
38 #ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
39 #define PCL_ROS_PRINCIPAL_CURVATURES_H_
40 
41 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
42 #include <pcl/features/principal_curvatures.h>
44 
45 namespace pcl_ros
46 {
55  {
56  private:
57  pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> impl_;
58 
59  typedef pcl::PointCloud<pcl::PrincipalCurvatures> PointCloudOut;
60 
62  inline bool
64  {
65  // Create the output publisher
66  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
67  return (true);
68  }
69 
71  void emptyPublish (const PointCloudInConstPtr &cloud);
72 
74  void computePublish (const PointCloudInConstPtr &cloud,
75  const PointCloudNConstPtr &normals,
76  const PointCloudInConstPtr &surface,
77  const IndicesPtr &indices);
78 
79  public:
80  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81  };
82 }
83 
84 #endif //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
pcl::PrincipalCurvaturesEstimation< pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures > impl_
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
pcl::PointCloud< pcl::PrincipalCurvatures > PointCloudOut
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of...
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: feature.h:195
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
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