void pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) { PointCloudOut output; output.header = cloud->header; pub_output_.publish (output.makeShared ()); }
void pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices) { // Set the parameters impl_.setKSearch (k_); impl_.setRadiusSearch (search_radius_); // Initialize the spatial locator initTree (spatial_locator_type_, tree_, k_); impl_.setSearchMethod (tree_); // Set the inputs impl_.setInputCloud (cloud); impl_.setIndices (indices); impl_.setSearchSurface (surface); impl_.setInputNormals (normals); // Estimate the feature PointCloudOut output; impl_.compute (output); // Enforce that the TF frame and the timestamp are copied output.header = cloud->header; pub_output_.publish (output.makeShared ()); }
void pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices) { // Set the parameters impl_.setKSearch (k_); impl_.setRadiusSearch (search_radius_); // Set the inputs impl_.setInputCloud (cloud); impl_.setIndices (indices); impl_.setSearchSurface (surface); // Estimate the feature PointCloudOut output; impl_.compute (output); // Publish a Boost shared ptr const data // Enforce that the TF frame and the timestamp are copied output.header = cloud->header; pub_output_.publish (output.makeShared ()); }