pcl_ros: fpfh.cpp Source File

00001 /*
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00034  * $Id: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $
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00036  */
00037 
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pcl_ros/features/fpfh.h"
00040 
00041 void 
00042 pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
00043 {
00044   PointCloudOut output;
00045   output.header = cloud->header;
00046   pub_output_.publish (output.makeShared ());
00047 }
00048 
00049 void 
00050 pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
00051                                          const PointCloudNConstPtr &normals,
00052                                          const PointCloudInConstPtr &surface,
00053                                          const IndicesConstPtr &indices)
00054 {
00055   // Set the parameters
00056   impl_.setKSearch (k_);
00057   impl_.setRadiusSearch (search_radius_);
00058   // Initialize the spatial locator
00059   initTree (spatial_locator_type_, tree_, k_);
00060   impl_.setSearchMethod (tree_);
00061 
00062   // Set the inputs
00063   impl_.setInputCloud (cloud);
00064   impl_.setIndices (indices);
00065   impl_.setSearchSurface (surface);
00066   impl_.setInputNormals (normals);
00067   // Estimate the feature
00068   PointCloudOut output;
00069   impl_.compute (output);
00070 
00071   // Publish a Boost shared ptr const data
00072   // Enforce that the TF frame and the timestamp are copied
00073   output.header = cloud->header;
00074   pub_output_.publish (output.makeShared ());
00075 }
00076 
00077 typedef pcl_ros::FPFHEstimation FPFHEstimation;
00078 PLUGINLIB_DECLARE_CLASS (pcl, FPFHEstimation, FPFHEstimation, nodelet::Nodelet);
00079