pfh.h
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37 
38 #ifndef PCL_ROS_PFH_H_
39 #define PCL_ROS_PFH_H_
40 
41 #include <pcl/features/pfh.h>
43 
44 namespace pcl_ros
45 {
69  {
70  private:
71  pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> impl_;
72 
73  typedef pcl::PointCloud<pcl::PFHSignature125> PointCloudOut;
74 
76  inline bool
78  {
79  // Create the output publisher
80  pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
81  return (true);
82  }
83 
85  void emptyPublish (const PointCloudInConstPtr &cloud);
86 
88  void computePublish (const PointCloudInConstPtr &cloud,
89  const PointCloudNConstPtr &normals,
90  const PointCloudInConstPtr &surface,
91  const IndicesPtr &indices);
92 
93  public:
94  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
95  };
96 }
97 
98 #endif //#ifndef PCL_ROS_PFH_H_
99 
100 
pcl::IndicesPtr IndicesPtr
Definition: feature.h:75
pcl::PointCloud< pcl::PFHSignature125 > PointCloudOut
Definition: pfh.h:73
bool childInit(ros::NodeHandle &nh)
Child initialization routine. Internal method.
Definition: pfh.h:77
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
Definition: pfh.cpp:50
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
Definition: pfh.cpp:42
int max_queue_size_
The maximum queue size (default: 3).
Definition: pcl_nodelet.h:128
pcl::PFHEstimation< pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125 > impl_
Definition: pfh.h:71
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:125
PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset ...
Definition: pfh.h:68


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