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
43 {
44  PointCloudOut output;
45  output.header = cloud->header;
46  pub_output_.publish (ros_ptr(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 (pcl_ptr(cloud));
60  impl_.setIndices (indices);
61  impl_.setSearchSurface (pcl_ptr(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 (ros_ptr(output.makeShared ()));
70 }
71 
74 
pcl::IndicesPtr IndicesPtr
Definition: feature.h:75
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:97
void publish(const boost::shared_ptr< M > &message) const
pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:100
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...
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:125
#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::MomentInvariantsEstimation< pcl::PointXYZ, pcl::MomentInvariants > impl_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Feb 16 2023 03:08:02