Program Listing for File moment_invariants.hpp

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 * $Id: moment_invariants.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_
#define PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_

#include <pcl/features/moment_invariants.h>
#include "pcl_ros/features/feature.hpp"

namespace pcl_ros
{
class MomentInvariantsEstimation : public Feature
{
private:
  pcl::MomentInvariantsEstimation<pcl::PointXYZ, pcl::MomentInvariants> impl_;

  typedef pcl::PointCloud<pcl::MomentInvariants> 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 PointCloudInConstPtr & surface,
    const IndicesPtr & indices);

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pcl_ros

#endif  // PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_