/*
 * 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:
 *
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 *     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.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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#ifndef PCL_ROS_SHOT_H_
#define PCL_ROS_SHOT_H_

#include <pcl/features/shot.h>
#include "pcl_ros/features/feature.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_ = advertise<PointCloudOut> (nh, "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_


