C++ (Cpp) PointCloudOut::makeShared示例

示例#1

文件： vfh.cpp 项目： RSD2014-Group-5/FroboMind

void 
pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
  PointCloudOut output;
  output.header = cloud->header;
  pub_output_.publish (output.makeShared ());
}

示例#2

文件： boundary.cpp 项目： RSD2014-Group-5/FroboMind

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 ());
}

示例#3

文件： normal_3d.cpp 项目： RSD2014-Group-5/FroboMind

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 ());
}