Fixes #77 and #80 for indigo

pcl_ros/include/pcl_ros/features/shot.h

@@ -0,0 +1,80 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Ryohei Ueda, JSK Lab
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of JSK Lab. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ *
+ */
+
+#ifndef PCL_ROS_SHOT_H_
+#define PCL_ROS_SHOT_H_
+
+#include <pcl/features/shot.h>
+#include "pcl_ros/features/pfh.h"
+
+namespace pcl_ros
+{
+  /** \brief @b SHOTEstimation estimates SHOT descriptor.
+    *
+    */
+  class SHOTEstimation : public FeatureFromNormals
+  {
+    private:
+      pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;
+
+      typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;
+
+      /** \brief Child initialization routine. Internal method. */
+      inline bool 
+      childInit (ros::NodeHandle &nh)
+      {
+        // Create the output publisher
+        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        return (true);
+      }
+
+      /** \brief Publish an empty point cloud of the feature output type. */
+      void emptyPublish (const PointCloudInConstPtr &cloud);
+
+      /** \brief Compute the feature and publish it. */
+      void computePublish (const PointCloudInConstPtr &cloud,
+                           const PointCloudNConstPtr &normals,
+                           const PointCloudInConstPtr &surface,
+                           const IndicesPtr &indices);
+
+    public:
+      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  };
+}
+
+#endif  //#ifndef PCL_SHOT_H_
+
+

pcl_ros/include/pcl_ros/features/shot_omp.h

@@ -0,0 +1,78 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015, Ryohei Ueda, JSK Lab
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of JSK Lab. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ *
+ */
+
+#ifndef PCL_ROS_SHOT_OMP_H_
+#define PCL_ROS_SHOT_OMP_H_
+
+#include <pcl/features/shot_omp.h>
+#include "pcl_ros/features/shot.h"
+
+namespace pcl_ros
+{
+  /** \brief @b SHOTEstimation estimates SHOT descriptor using OpenMP.
+    */
+  class SHOTEstimationOMP : public FeatureFromNormals
+  {
+    private:
+      pcl::SHOTEstimationOMP<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> impl_;
+
+      typedef pcl::PointCloud<pcl::SHOT352> PointCloudOut;
+
+      /** \brief Child initialization routine. Internal method. */
+      inline bool 
+      childInit (ros::NodeHandle &nh)
+      {
+        // Create the output publisher
+        pub_output_ = nh.advertise<PointCloudOut> ("output", max_queue_size_);
+        return (true);
+      }
+
+      /** \brief Publish an empty point cloud of the feature output type. */
+      void emptyPublish (const PointCloudInConstPtr &cloud);
+
+      /** \brief Compute the feature and publish it. */
+      void computePublish (const PointCloudInConstPtr &cloud,
+                           const PointCloudNConstPtr &normals,
+                           const PointCloudInConstPtr &surface,
+                           const IndicesPtr &indices);
+
+    public:
+      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  };
+}
+
+#endif  //#ifndef PCL_ROS_SHOT_OMP_H_
+