features/fpfh.cpp
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34  * $Id: fpfh.cpp 35361 2011-01-20 04:34:49Z rusu $
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37 
39 #include "pcl_ros/features/fpfh.h"
40 
41 void
43 {
44  PointCloudOut output;
45  output.header = cloud->header;
46  pub_output_.publish (output.makeShared ());
47 }
48 
49 void
51  const PointCloudNConstPtr &normals,
52  const PointCloudInConstPtr &surface,
53  const IndicesPtr &indices)
54 {
55  // Set the parameters
56  impl_.setKSearch (k_);
57  impl_.setRadiusSearch (search_radius_);
58 
59  // Set the inputs
60  impl_.setInputCloud (cloud);
61  impl_.setIndices (indices);
62  impl_.setSearchSurface (surface);
63  impl_.setInputNormals (normals);
64  // Estimate the feature
65  PointCloudOut output;
66  impl_.compute (output);
67 
68  // Publish a Boost shared ptr const data
69  // Enforce that the TF frame and the timestamp are copied
70  output.header = cloud->header;
71  pub_output_.publish (output.makeShared ());
72 }
73 
76 
FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud d...
Definition: fpfh.h:68
void publish(const boost::shared_ptr< M > &message) const
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:98
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: feature.h:195
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:101
void emptyPublish(const PointCloudInConstPtr &cloud)
Publish an empty point cloud of the feature output type.
PLUGINLIB_EXPORT_CLASS(CropBox, nodelet::Nodelet)
pcl::PointCloud< pcl::FPFHSignature33 > PointCloudOut
Definition: fpfh.h:73
ros::Publisher pub_output_
The output PointCloud publisher.
Definition: pcl_nodelet.h:124
void computePublish(const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
Compute the feature and publish it.
PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: feature.h:74
pcl_ros::FPFHEstimation FPFHEstimation
pcl::FPFHEstimation< pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33 > impl_
Definition: fpfh.h:71


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