00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2015, Ryohei Ueda, JSK Lab 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of JSK Lab. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 00036 00037 #include <pluginlib/class_list_macros.h> 00038 #include "pcl_ros/features/shot.h" 00039 00040 void 00041 pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud) 00042 { 00043 PointCloudOut output; 00044 output.header = cloud->header; 00045 pub_output_.publish (output.makeShared ()); 00046 } 00047 00048 void 00049 pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud, 00050 const PointCloudNConstPtr &normals, 00051 const PointCloudInConstPtr &surface, 00052 const IndicesPtr &indices) 00053 { 00054 // Set the parameters 00055 impl_.setKSearch (k_); 00056 impl_.setRadiusSearch (search_radius_); 00057 00058 // Set the inputs 00059 impl_.setInputCloud (cloud); 00060 impl_.setIndices (indices); 00061 impl_.setSearchSurface (surface); 00062 impl_.setInputNormals (normals); 00063 // Estimate the feature 00064 PointCloudOut output; 00065 impl_.compute (output); 00066 00067 // Publish a Boost shared ptr const data 00068 // Enforce that the TF frame and the timestamp are copied 00069 output.header = cloud->header; 00070 pub_output_.publish (output.makeShared ()); 00071 } 00072 00073 typedef pcl_ros::SHOTEstimation SHOTEstimation; 00074 PLUGINLIB_DECLARE_CLASS (pcl, SHOTEstimation, SHOTEstimation, nodelet::Nodelet); 00075