fpfh.cpp

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/*
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 * $Id: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $
 *
 */

#include <pluginlib/class_list_macros.hpp>
#include "pcl_ros/features/fpfh.h"

void 
pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
  PointCloudOut output;
  output.header = cloud->header;
  pub_output_.publish (ros_ptr(output.makeShared ()));
}

void 
pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
                                         const PointCloudNConstPtr &normals,
                                         const PointCloudInConstPtr &surface,
                                         const IndicesPtr &indices)
{
  // Set the parameters
  impl_.setKSearch (k_);
  impl_.setRadiusSearch (search_radius_);

  // Set the inputs
  impl_.setInputCloud (pcl_ptr(cloud));
  impl_.setIndices (indices);
  impl_.setSearchSurface (pcl_ptr(surface));
  impl_.setInputNormals (pcl_ptr(normals));
  // Estimate the feature
  PointCloudOut output;
  impl_.compute (output);

  // Publish a Boost shared ptr const data
  // Enforce that the TF frame and the timestamp are copied
  output.header = cloud->header;
  pub_output_.publish (ros_ptr(output.makeShared ()));
}

typedef pcl_ros::FPFHEstimation FPFHEstimation;
PLUGINLIB_EXPORT_CLASS(FPFHEstimation, nodelet::Nodelet)