normal_3d_tbb.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: normal_3d_tbb.cpp 35625 2011-01-31 07:56:13Z gbiggs $ 00035 * 00036 */ 00037 00038 #include <pluginlib/class_list_macros.h> 00039 #include "pcl_ros/features/normal_3d_tbb.h" 00040 00041 #if defined HAVE_TBB 00042 00043 void 00044 pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud) 00045 { 00046 PointCloud output; 00047 output.header = cloud->header; 00048 pub_output_.publish (output.makeShared ()); 00049 } 00050 00051 void 00052 pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud, 00053 const PointCloudInConstPtr &surface, 00054 const IndicesConstPtr &indices) 00055 { 00056 // Set the parameters 00057 impl_.setKSearch (k_); 00058 impl_.setRadiusSearch (search_radius_); 00059 // Initialize the spatial locator 00060 initTree (spatial_locator_type_, tree_, k_); 00061 impl_.setSearchMethod (tree_); 00062 00063 // Set the inputs 00064 impl_.setInputCloud (cloud); 00065 impl_.setIndices (indices); 00066 impl_.setSearchSurface (surface); 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::NormalEstimationTBB NormalEstimationTBB; 00078 PLUGINLIB_DECLARE_CLASS (pcl, NormalEstimationTBB, NormalEstimationTBB, nodelet::Nodelet); 00079 00080 #endif // HAVE_TBB 00081