fpfh.cpp
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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 IndicesPtr &indices)
00054 {
00055   // Set the parameters
00056   impl_.setKSearch (k_);
00057   impl_.setRadiusSearch (search_radius_);
00058 
00059   // Set the inputs
00060   impl_.setInputCloud (cloud);
00061   impl_.setIndices (indices);
00062   impl_.setSearchSurface (surface);
00063   impl_.setInputNormals (normals);
00064   // Estimate the feature
00065   PointCloudOut output;
00066   impl_.compute (output);
00067 
00068   // Publish a Boost shared ptr const data
00069   // Enforce that the TF frame and the timestamp are copied
00070   output.header = cloud->header;
00071   pub_output_.publish (output.makeShared ());
00072 }
00073 
00074 typedef pcl_ros::FPFHEstimation FPFHEstimation;
00075 PLUGINLIB_DECLARE_CLASS (pcl, FPFHEstimation, FPFHEstimation, nodelet::Nodelet);
00076 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:31