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: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $ 00035 * 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