boundary.cpp
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34  * $Id: boundary.cpp 35361 2011-01-20 04:34:49Z rusu $
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37 
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  // 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 
pcl::BoundaryEstimation< pcl::PointXYZ, pcl::Normal, pcl::Boundary > impl_
Definition: boundary.h:59
pcl::IndicesPtr IndicesPtr
Definition: feature.h:75
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
Definition: boundary.cpp:42
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:97
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
Definition: boundary.cpp:50
void publish(const boost::shared_ptr< M > &message) const
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:100
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...
Definition: boundary.h:56
pcl::PointCloud< pcl::Boundary > PointCloudOut
Definition: boundary.h:61
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:125
pcl_ros::BoundaryEstimation BoundaryEstimation
Definition: boundary.cpp:73
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
boost::shared_ptr< T > pcl_ptr(const boost::shared_ptr< T > &p)
Definition: point_cloud.h:392
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 Thu Feb 16 2023 03:08:02