fpfh.cpp
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2009, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNERff OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $
35  *
36  */
37 
39 #include "pcl_ros/features/fpfh.h"
40 
41 void
43 {
44  PointCloudOut output;
45  output.header = cloud->header;
46  pub_output_.publish (ros_ptr(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 
59  // Set the inputs
60  impl_.setInputCloud (pcl_ptr(cloud));
61  impl_.setIndices (indices);
62  impl_.setSearchSurface (pcl_ptr(surface));
63  impl_.setInputNormals (pcl_ptr(normals));
64  // Estimate the feature
65  PointCloudOut output;
66  impl_.compute (output);
67 
68  // Publish a Boost shared ptr const data
69  // Enforce that the TF frame and the timestamp are copied
70  output.header = cloud->header;
71  pub_output_.publish (ros_ptr(output.makeShared ()));
72 }
73 
76 
boost::shared_ptr< const PointCloudIn >
pcl_ros::FPFHEstimation::computePublish
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
Definition: fpfh.cpp:50
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
pcl_ros::Feature::IndicesPtr
pcl::IndicesPtr IndicesPtr
Definition: feature.h:75
FPFHEstimation
pcl_ros::FPFHEstimation FPFHEstimation
Definition: fpfh.cpp:74
PLUGINLIB_EXPORT_CLASS
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
pcl_ros::PCLNodelet::pub_output_
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:125
pcl_ros::FPFHEstimation
FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud d...
Definition: fpfh.h:68
pcl_ros::FPFHEstimation::PointCloudOut
pcl::PointCloud< pcl::FPFHSignature33 > PointCloudOut
Definition: fpfh.h:73
nodelet::Nodelet
fpfh.h
pcl::pcl_ptr
boost::shared_ptr< T > pcl_ptr(const boost::shared_ptr< T > &p)
Definition: point_cloud.h:392
class_list_macros.hpp
pcl_ros::FPFHEstimation::emptyPublish
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
Definition: fpfh.cpp:42
pcl::ros_ptr
boost::shared_ptr< T > ros_ptr(const boost::shared_ptr< T > &p)
Definition: point_cloud.h:354


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Fri Jul 12 2024 02:54:40