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   // Initialize the spatial locator
00058   initTree (spatial_locator_type_, tree_, k_);
00059   impl_.setSearchMethod (tree_);
00060 
00061   // Set the inputs
00062   impl_.setInputCloud (cloud);
00063   impl_.setIndices (indices);
00064   impl_.setSearchSurface (surface);
00065   // Estimate the feature
00066   PointCloudOut output;
00067   impl_.compute (output);
00068 
00069   // Publish a Boost shared ptr const data
00070   // Enforce that the TF frame and the timestamp are copied
00071   output.header = cloud->header;
00072   pub_output_.publish (output.makeShared ());
00073 }
00074 
00075 typedef pcl_ros::NormalEstimation NormalEstimation;
00076 PLUGINLIB_EXPORT_CLASS(NormalEstimation,nodelet::Nodelet);
00077 


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