85 lines
3.5 KiB
C++
85 lines
3.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: principal_curvatures.h 35361 2011-01-20 04:34:49Z rusu $
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*
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*/
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#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
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#define PCL_ROS_PRINCIPAL_CURVATURES_H_
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#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
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#include <pcl/features/principal_curvatures.h>
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#include "pcl_ros/features/feature.h"
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namespace pcl_ros
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{
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/** \brief @b PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of
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* principal surface curvatures for a given point cloud dataset containing points and normals.
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*
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* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
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* \a NormalEstimationOpenMP and \a NormalEstimationTBB for examples on how to extend this to parallel implementations.
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* \author Radu Bogdan Rusu, Jared Glover
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*/
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class PrincipalCurvaturesEstimation : public FeatureFromNormals
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{
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private:
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pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> impl_;
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typedef pcl::PointCloud<pcl::PrincipalCurvatures> PointCloudOut;
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/** \brief Child initialization routine. Internal method. */
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inline bool
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childInit (ros::NodeHandle &nh)
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{
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// Create the output publisher
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pub_output_ = advertise<PointCloudOut> (nh, "output", max_queue_size_);
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return (true);
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}
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/** \brief Publish an empty point cloud of the feature output type. */
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void emptyPublish (const PointCloudInConstPtr &cloud);
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/** \brief Compute the feature and publish it. */
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void computePublish (const PointCloudInConstPtr &cloud,
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const PointCloudNConstPtr &normals,
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const PointCloudInConstPtr &surface,
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const IndicesPtr &indices);
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#endif //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
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