decimated_publisher.cpp

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#include "pointcloud_transport_base/decimated_publisher.h"

namespace decimated_transport {

void DecimatedPublisher::publish(const sensor_msgs::PointCloud& pointcloud,
                const message_transport::SimplePublisherPlugin<sensor_msgs::PointCloud,sensor_msgs::PointCloud>::PublishFn& publish_fn) const
{
        // Set up message and publish
        unsigned int n = pointcloud.points.size();
        unsigned int m = pointcloud.channels.size();

        sensor_msgs::PointCloud decimated;
        decimated.header = pointcloud.header;
        decimated.points.resize(n/decimation);
        decimated.channels.resize(m);
        for (unsigned int i=0;i<m;i++) {
                decimated.channels[i].name = pointcloud.channels[i].name;
                decimated.channels[i].values.resize(n/decimation);
        }
        for (unsigned int i=0;i<n/decimation;i++) {
                decimated.points[i] = pointcloud.points[i*decimation];
                for (unsigned int j=0;j<m;j++) {
                        decimated.channels[j].values[i] = pointcloud.channels[j].values[i*decimation];
                }
        }

        publish_fn(decimated);
}

} //namespace decimated_transport

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pointcloud_transport
Author(s): Cedric Pradalier
autogenerated on Fri Jan 11 09:39:21 2013