shot.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2015, Ryohei Ueda, JSK Lab
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00007  *  Redistribution and use in source and binary forms, with or without
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00036 
00037 #ifndef PCL_ROS_SHOT_H_
00038 #define PCL_ROS_SHOT_H_
00039 
00040 #include <pcl/features/shot.h>
00041 #include "pcl_ros/features/pfh.h"
00042 
00043 namespace pcl_ros
00044 {
00048   class SHOTEstimation : public FeatureFromNormals
00049   {
00050     private:
00051       pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;
00052 
00053       typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;
00054 
00056       inline bool 
00057       childInit (ros::NodeHandle &nh)
00058       {
00059         // Create the output publisher
00060         pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
00061         return (true);
00062       }
00063 
00065       void emptyPublish (const PointCloudInConstPtr &cloud);
00066 
00068       void computePublish (const PointCloudInConstPtr &cloud,
00069                            const PointCloudNConstPtr &normals,
00070                            const PointCloudInConstPtr &surface,
00071                            const IndicesPtr &indices);
00072 
00073     public:
00074       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00075   };
00076 }
00077 
00078 #endif  //#ifndef PCL_SHOT_H_
00079 
00080 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:31