normal_3d.cpp
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00001 /*
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00034  * $Id: normal_3d.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/normal_3d.h"
00040 
00041 void 
00042 pcl_ros::NormalEstimation::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::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
00051                                            const PointCloudInConstPtr &surface,
00052                                            const IndicesPtr &indices)
00053 {
00054   // Set the parameters
00055   impl_.setKSearch (k_);
00056   impl_.setRadiusSearch (search_radius_);
00057 
00058   // Set the inputs
00059   impl_.setInputCloud (cloud);
00060   impl_.setIndices (indices);
00061   impl_.setSearchSurface (surface);
00062   // Estimate the feature
00063   PointCloudOut output;
00064   impl_.compute (output);
00065 
00066   // Publish a Boost shared ptr const data
00067   // Enforce that the TF frame and the timestamp are copied
00068   output.header = cloud->header;
00069   pub_output_.publish (output.makeShared ());
00070 }
00071 
00072 typedef pcl_ros::NormalEstimation NormalEstimation;
00073 PLUGINLIB_DECLARE_CLASS (pcl, NormalEstimation, NormalEstimation, nodelet::Nodelet);
00074 


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