vfh.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
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00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00016  *     with the distribution.
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00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00033  *
00034  * $Id: vfh.h 35361 2011-01-20 04:34:49Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_ROS_FEATURES_VFH_H_
00039 #define PCL_ROS_FEATURES_VFH_H_
00040 
00041 #include <pcl/features/vfh.h>
00042 #include "pcl_ros/features/fpfh.h"
00043 
00044 namespace pcl_ros
00045 {
00053   class VFHEstimation : public FeatureFromNormals
00054   {
00055     private:
00056       pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> impl_;
00057 
00058       typedef pcl::PointCloud<pcl::VFHSignature308> PointCloudOut;
00059 
00061       inline bool 
00062       childInit (ros::NodeHandle &nh)
00063       {
00064         // Create the output publisher
00065         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00066         return (true);
00067       }
00068 
00070       void emptyPublish (const PointCloudInConstPtr &cloud);
00071 
00073       void computePublish (const PointCloudInConstPtr &cloud,
00074                            const PointCloudNConstPtr &normals,
00075                            const PointCloudInConstPtr &surface,
00076                            const IndicesPtr &indices);
00077 
00078     public:
00079       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00080   };
00081 }
00082 
00083 #endif  //#ifndef PCL_ROS_FEATURES_VFH_H_


pcl_ros
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:22:24