pcl_base.cpp

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/*
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 * $Id: pcl_base.cpp 34570 2010-12-06 19:01:39Z rusu $
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#include "pcl/pcl_base.h"
#include "pcl/io/io.h"


void
pcl::PCLBase<sensor_msgs::PointCloud2>::setInputCloud (const PointCloud2ConstPtr &cloud)
{
  input_ = cloud;
  x_idx_ = pcl::getFieldIndex (*input_, x_field_name_);
  y_idx_ = pcl::getFieldIndex (*input_, y_field_name_);
  z_idx_ = pcl::getFieldIndex (*input_, z_field_name_);

  // Obtain the size of all fields. Restrict to sizeof FLOAT32 for now
  field_sizes_.resize (input_->fields.size ());
  for (size_t d = 0; d < input_->fields.size (); ++d)
    field_sizes_[d] = (std::min) (pcl::getFieldSize (input_->fields[d].datatype), (int)sizeof (float));
}


bool
pcl::PCLBase<sensor_msgs::PointCloud2>::deinitCompute ()
{
  // Reset the indices
  if (fake_indices_)
  {
    indices_.reset ();
    fake_indices_ = false;
  }
  return (true);
}


bool
pcl::PCLBase<sensor_msgs::PointCloud2>::initCompute ()
{
  // Check if input was set
  if (!input_)
    return (false);

  // If no point indices have been given, construct a set of indices for the entire input point cloud
  if (!indices_)
  {
    fake_indices_ = true;
    std::vector<int> *indices = new std::vector<int> (input_->width * input_->height);
    for (size_t i = 0; i < indices->size (); ++i) { (*indices)[i] = i; }
    indices_.reset (indices);
  }
  return (true);
}

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013