features/normal_3d_tbb.cpp
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34  * $Id: normal_3d_tbb.cpp 35625 2011-01-31 07:56:13Z gbiggs $
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37 
40 
41 #if defined HAVE_TBB
42 
43 void
44 pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
45 {
46  PointCloud output;
47  output.header = cloud->header;
48  pub_output_.publish (output.makeShared ());
49 }
50 
51 void
53  const PointCloudInConstPtr &surface,
54  const IndicesPtr &indices)
55 {
56  // Set the parameters
57  impl_.setKSearch (k_);
58  impl_.setRadiusSearch (search_radius_);
59  // Initialize the spatial locator
60  initTree (spatial_locator_type_, tree_, k_);
61  impl_.setSearchMethod (tree_);
62 
63  // Set the inputs
64  impl_.setInputCloud (cloud);
65  impl_.setIndices (indices);
66  impl_.setSearchSurface (surface);
67  // Estimate the feature
68  PointCloudOut output;
69  impl_.compute (output);
70 
71  // Publish a Boost shared ptr const data
72  // Enforce that the TF frame and the timestamp are copied
73  output.header = cloud->header;
74  pub_output_.publish (output.makeShared ());
75 }
76 
77 typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
78 PLUGINLIB_EXPORT_CLASS(NormalEstimationTBB, nodelet::Nodelet)
79 
80 #endif // HAVE_TBB
81 
void publish(const boost::shared_ptr< M > &message) const
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
sensor_msgs::PointCloud2 PointCloud
Definition: bag_to_pcd.cpp:58
pcl::PointCloud< pcl::Normal > PointCloudOut
Definition: normal_3d_tbb.h:58
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:98
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
PLUGINLIB_EXPORT_CLASS(CropBox, nodelet::Nodelet)
NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and ...
Definition: normal_3d_tbb.h:53
int spatial_locator_type_
Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Near...
Definition: feature.h:118
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::NormalEstimationTBB< pcl::PointXYZ, pcl::Normal > impl_
Definition: normal_3d_tbb.h:56
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:52