shot.cpp
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36 
38 #include "pcl_ros/features/shot.h"
39 
40 void
42 {
43  PointCloudOut output;
44  output.header = cloud->header;
45  pub_output_.publish (output.makeShared ());
46 }
47 
48 void
50  const PointCloudNConstPtr &normals,
51  const PointCloudInConstPtr &surface,
52  const IndicesPtr &indices)
53 {
54  // Set the parameters
55  impl_.setKSearch (k_);
56  impl_.setRadiusSearch (search_radius_);
57 
58  // Set the inputs
59  impl_.setInputCloud (cloud);
60  impl_.setIndices (indices);
61  impl_.setSearchSurface (surface);
62  impl_.setInputNormals (normals);
63  // Estimate the feature
64  PointCloudOut output;
65  impl_.compute (output);
66 
67  // Publish a Boost shared ptr const data
68  // Enforce that the TF frame and the timestamp are copied
69  output.header = cloud->header;
70  pub_output_.publish (output.makeShared ());
71 }
72 
75 
void publish(const boost::shared_ptr< M > &message) const
pcl::PointCloud< pcl::SHOT352 > PointCloudOut
Definition: shot.h:53
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:98
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: feature.h:195
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:101
pcl_ros::SHOTEstimation SHOTEstimation
Definition: shot.cpp:73
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
Definition: shot.cpp:49
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
Definition: shot.cpp:41
pcl::SHOTEstimation< pcl::PointXYZ, pcl::Normal, pcl::SHOT352 > impl_
Definition: shot.h:51
PLUGINLIB_EXPORT_CLASS(CropBox, nodelet::Nodelet)
SHOTEstimation estimates SHOT descriptor.
Definition: shot.h:48
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:124
PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: feature.h:74


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