keypoints_publisher.h
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00001 #pragma once
00002 
00003 #include <ros/ros.h>
00004 
00005 #include <pcl/point_types.h>
00006 #include <pcl_ros/pcl_nodelet.h>
00007 #include <pcl/point_cloud.h>
00008 #include <jsk_topic_tools/connection_based_nodelet.h>
00009 
00010 namespace jsk_pcl_ros
00011 {
00012   class KeypointsPublisher: public jsk_topic_tools::ConnectionBasedNodelet
00013   {
00014   public:
00015     virtual void onInit();
00016   protected:
00017     virtual void inputCallback(const sensor_msgs::PointCloud2::ConstPtr& input);
00018     virtual void extractKeypoints(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
00019     virtual void subscribe();
00020     virtual void unsubscribe();
00021     ros::Subscriber sub_input_;
00022     ros::Publisher keypoints_pub_;
00023     pcl::PointCloud<pcl::PointXYZ>::Ptr input_;
00024     std_msgs::Header input_header_;
00025   };
00026 }    


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47