features/moment_invariants.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: moment_invariants.cpp 35361 2011-01-20 04:34:49Z rusu $
35  *
36  */
37 
40 
41 void
43 {
44  PointCloudOut output;
45  output.header = cloud->header;
46  pub_output_.publish (output.makeShared ());
47 }
48 
49 void
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  // Estimate the feature
63  PointCloudOut output;
64  impl_.compute (output);
65 
66  // Publish a Boost shared ptr const data
67  // Enforce that the TF frame and the timestamp are copied
68  output.header = cloud->header;
69  pub_output_.publish (output.makeShared ());
70 }
71 
74 
void publish(const boost::shared_ptr< M > &message) const
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:98
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:101
pcl::PointCloud< pcl::MomentInvariants > PointCloudOut
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point...
PLUGINLIB_EXPORT_CLASS(CropBox, nodelet::Nodelet)
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:124
PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: feature.h:74
pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation
pcl::MomentInvariantsEstimation< pcl::PointXYZ, pcl::MomentInvariants > impl_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:52