filters/features/vfh.cpp
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34  * $Id: vfh.cpp 35361 2011-01-20 04:34:49Z rusu $
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37 
39 #include "pcl_ros/features/vfh.h"
40 
41 void
42 pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
43 {
44  PointCloudOut output;
45  output.header = cloud->header;
46  pub_output_.publish (output.makeShared ());
47 }
48 
49 void
51  const PointCloudNConstPtr &normals,
52  const PointCloudInConstPtr &surface,
53  const IndicesPtr &indices)
54 {
55  // Set the parameters
56  impl_.setKSearch (k_);
57  impl_.setRadiusSearch (search_radius_);
58  // Initialize the spatial locator
59  initTree (spatial_locator_type_, tree_, k_);
60  impl_.setSearchMethod (tree_);
61 
62  // Set the inputs
63  impl_.setInputCloud (cloud);
64  impl_.setIndices (indices);
65  impl_.setSearchSurface (surface);
66  impl_.setInputNormals (normals);
67  // Estimate the feature
68  PointCloudOut output;
69  impl_.compute (output);
70 
71  // Publish a Boost shared ptr const data
72  // Enforce that the TF frame and the timestamp are copied
73  output.header = cloud->header;
74  pub_output_.publish (output.makeShared ());
75 }
76 
79 
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
void publish(const boost::shared_ptr< M > &message) const
VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud data...
Definition: vfh.h:53
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
pcl::PointCloud< pcl::VFHSignature308 > PointCloudOut
Definition: vfh.h:58
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:98
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: feature.h:195
pcl::VFHEstimation< pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308 > impl_
Definition: vfh.h:56
boost::shared_ptr< std::vector< int > > IndicesPtr
Definition: feature.h:76
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:101
PLUGINLIB_EXPORT_CLASS(VFHEstimation, nodelet::Nodelet)
int spatial_locator_type_
Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Near...
Definition: feature.h:118
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:124
PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: feature.h:74
KdTreePtr tree_
The input point cloud dataset.
Definition: feature.h:82
pcl_ros::VFHEstimation VFHEstimation


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18