normal_3d_tbb.cpp
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00001 /*
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00034  * $Id: normal_3d_tbb.cpp 35625 2011-01-31 07:56:13Z gbiggs $
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00036  */
00037 
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pcl_ros/features/normal_3d_tbb.h"
00040 
00041 #if defined HAVE_TBB
00042 
00043 void 
00044 pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
00045 {
00046   PointCloud output;
00047   output.header = cloud->header;
00048   pub_output_.publish (output.makeShared ());
00049 }
00050 
00051 void 
00052 pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
00053                                               const PointCloudInConstPtr &surface,
00054                                               const IndicesPtr &indices)
00055 {
00056   // Set the parameters
00057   impl_.setKSearch (k_);
00058   impl_.setRadiusSearch (search_radius_);
00059   // Initialize the spatial locator
00060   initTree (spatial_locator_type_, tree_, k_);
00061   impl_.setSearchMethod (tree_);
00062 
00063   // Set the inputs
00064   impl_.setInputCloud (cloud);
00065   impl_.setIndices (indices);
00066   impl_.setSearchSurface (surface);
00067   // Estimate the feature
00068   PointCloudOut output;
00069   impl_.compute (output);
00070 
00071   // Publish a Boost shared ptr const data
00072   // Enforce that the TF frame and the timestamp are copied
00073   output.header = cloud->header;
00074   pub_output_.publish (output.makeShared ());
00075 }
00076 
00077 typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
00078 PLUGINLIB_EXPORT_CLASS(NormalEstimationTBB, nodelet::Nodelet)
00079 
00080 #endif // HAVE_TBB
00081 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Jun 6 2019 21:01:44