filters/features/moment_invariants.cpp
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34  * $Id: moment_invariants.cpp 35361 2011-01-20 04:34:49Z rusu $
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37 
40 
41 void
42 pcl_ros::MomentInvariantsEstimation::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 PointCloudInConstPtr &surface,
52  const IndicesPtr &indices)
53 {
54  // Set the parameters
55  impl_.setKSearch (k_);
56  impl_.setRadiusSearch (search_radius_);
57  // Initialize the spatial locator
58  initTree (spatial_locator_type_, tree_, k_);
59  impl_.setSearchMethod (tree_);
60 
61  // Set the inputs
62  impl_.setInputCloud (cloud);
63  impl_.setIndices (indices);
64  impl_.setSearchSurface (surface);
65  // Estimate the feature
66  PointCloudOut output;
67  impl_.compute (output);
68 
69  // Publish a Boost shared ptr const data
70  // Enforce that the TF frame and the timestamp are copied
71  output.header = cloud->header;
72  pub_output_.publish (output.makeShared ());
73 }
74 
76 PLUGINLIB_EXPORT_CLASS(MomentInvariantsEstimation,nodelet::Nodelet);
77 
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
PLUGINLIB_EXPORT_CLASS(MomentInvariantsEstimation, nodelet::Nodelet)
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
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...
pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation
int spatial_locator_type_
Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Near...
Definition: feature.h:118
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
KdTreePtr tree_
The input point cloud dataset.
Definition: feature.h:82
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