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