shot_omp.cpp
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36 
39 
40 void
42 {
43  PointCloudOut output;
44  output.header = cloud->header;
45  pub_output_.publish (ros_ptr(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 (pcl_ptr(cloud));
60  impl_.setIndices (indices);
61  impl_.setSearchSurface (pcl_ptr(surface));
62  impl_.setInputNormals (pcl_ptr(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 (ros_ptr(output.makeShared ()));
71 }
72 
75 
boost::shared_ptr< const PointCloudIn >
pcl_ros::SHOTEstimationOMP
SHOTEstimation estimates SHOT descriptor using OpenMP.
Definition: shot_omp.h:47
pcl_ros::SHOTEstimationOMP::emptyPublish
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
Definition: shot_omp.cpp:41
SHOTEstimationOMP
pcl_ros::SHOTEstimationOMP SHOTEstimationOMP
Definition: shot_omp.cpp:73
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
pcl_ros::Feature::IndicesPtr
pcl::IndicesPtr IndicesPtr
Definition: feature.h:75
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::SHOTEstimationOMP::computePublish
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
Definition: shot_omp.cpp:49
shot_omp.h
nodelet::Nodelet
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::SHOTEstimationOMP::PointCloudOut
pcl::PointCloud< pcl::SHOT352 > PointCloudOut
Definition: shot_omp.h:52
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