Program Listing for File shot.hpp

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#ifndef PCL_ROS__FEATURES__SHOT_HPP_
#define PCL_ROS__FEATURES__SHOT_HPP_

#include <pcl/features/shot.h>
#include "pcl_ros/features/pfh.hpp"

namespace pcl_ros
{
class SHOTEstimation : public FeatureFromNormals
{
private:
  pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;

  typedef pcl::PointCloud<pcl::SHOT352> 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 PointCloudNConstPtr & normals,
    const PointCloudInConstPtr & surface,
    const IndicesPtr & indices);

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pcl_ros

#endif  // PCL_ROS__FEATURES__SHOT_HPP_