shot.h

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/*
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 *  Copyright (c) 2015, Ryohei Ueda, JSK Lab
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#ifndef PCL_ROS_SHOT_H_
#define PCL_ROS_SHOT_H_

#include <pcl/features/shot.h>
#include "pcl_ros/features/pfh.h"

namespace pcl_ros
{
  class SHOTEstimation : public FeatureFromNormals
  {
    private:
      pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;

      typedef pcl::PointCloud<pcl::SHOT352> 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 PointCloudNConstPtr &normals,
                           const PointCloudInConstPtr &surface,
                           const IndicesPtr &indices);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_SHOT_H_