#include <feature.h>

Inheritance diagram for pcl_ros::FeatureFromNormals:

[legend]

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2

typedef pcl::PointCloud< pcl::Normal >	PointCloudN

typedef boost::shared_ptr< const PointCloudN >	PointCloudNConstPtr

typedef boost::shared_ptr< PointCloudN >	PointCloudNPtr

Public Types inherited from pcl_ros::Feature
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl::KdTree< pcl::PointXYZ >	KdTree

typedef pcl::KdTree< pcl::PointXYZ >::Ptr	KdTreePtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudIn

typedef boost::shared_ptr< const PointCloudIn >	PointCloudInConstPtr

typedef boost::shared_ptr< PointCloudIn >	PointCloudInPtr

Public Types inherited from pcl_ros::PCLNodelet
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl_msgs::ModelCoefficients	ModelCoefficients

typedef ModelCoefficients::ConstPtr	ModelCoefficientsConstPtr

typedef ModelCoefficients::Ptr	ModelCoefficientsPtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef sensor_msgs::PointCloud2	PointCloud2

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef pcl_msgs::PointIndices	PointIndices

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

Public Member Functions
	FeatureFromNormals ()

Public Member Functions inherited from pcl_ros::Feature
	Feature ()
	Empty constructor. More...

Public Member Functions inherited from pcl_ros::PCLNodelet
	PCLNodelet ()
	Empty constructor. More...

Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
virtual bool	childInit (ros::NodeHandle &nh)=0
	Child initialization routine. Internal method. More...

virtual void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)=0
	Compute the feature and publish it. More...

virtual void	emptyPublish (const PointCloudInConstPtr &cloud)=0
	Publish an empty point cloud of the feature output type. More...

Protected Member Functions inherited from pcl_ros::Feature
void	config_callback (FeatureConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	input_callback (const PointCloudInConstPtr &input)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More...

Protected Member Functions inherited from pcl_ros::PCLNodelet
bool	isValid (const ModelCoefficientsConstPtr &, const std::string &="model")
	Test whether a given ModelCoefficients message is "valid" (i.e., has values). More...

bool	isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointIndicesConstPtr &, const std::string &="indices")
	Test whether a given PointIndices message is "valid" (i.e., has values). More...

Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl_ros::Feature
int	k_
	The number of K nearest neighbors to use for each point. More...

message_filters::PassThrough< PointCloudIn >	nf_pc_

message_filters::PassThrough< PointIndices >	nf_pi_
	Null passthrough filter, used for pushing empty elements in the synchronizer. More...

double	search_radius_
	The nearest neighbors search radius for each point. More...

int	spatial_locator_type_
	Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index. More...

boost::shared_ptr< dynamic_reconfigure::Server< FeatureConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

ros::Subscriber	sub_input_
	The input PointCloud subscriber. More...

message_filters::Subscriber< PointCloudIn >	sub_surface_filter_
	The surface PointCloud subscriber filter. More...

KdTreePtr	tree_
	The input point cloud dataset. More...

bool	use_surface_
	Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. More...

Protected Attributes inherited from pcl_ros::PCLNodelet
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default). More...

bool	latched_indices_
	Set to true if the indices topic is latched. More...

int	max_queue_size_
	The maximum queue size (default: 3). More...

ros::Publisher	pub_output_
	The output PointCloud publisher. More...

message_filters::Subscriber< PointIndices >	sub_indices_filter_
	The message filter subscriber for PointIndices. More...

message_filters::Subscriber< PointCloud >	sub_input_filter_
	The message filter subscriber for PointCloud2. More...

tf::TransformListener	tf_listener_
	TF listener object. More...

bool	use_indices_
	Set to true if point indices are used. More...

Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

bool	lazy_

boost::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Private Member Functions
void	computePublish (const PointCloudInConstPtr &, const PointCloudInConstPtr &, const IndicesPtr &)
	Internal method. More...

void	input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &cloud_normals, const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
	Input point cloud callback. Used when use_indices and use_surface are set. More...

virtual void	onInit ()
	Nodelet initialization routine. More...

virtual void	subscribe ()
	NodeletLazy connection routine. More...

virtual void	unsubscribe ()

Private Attributes
message_filters::Subscriber< PointCloudN >	sub_normals_filter_
	The normals PointCloud subscriber filter. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > >	sync_input_normals_surface_indices_a_
	Synchronized input, normals, surface, and point indices. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > >	sync_input_normals_surface_indices_e_

Detailed Description

Definition at line 187 of file feature.h.

Member Typedef Documentation

◆ PointCloud2

typedef sensor_msgs::PointCloud2 pcl_ros::FeatureFromNormals::PointCloud2

Definition at line 190 of file feature.h.

◆ PointCloudN

typedef pcl::PointCloud<pcl::Normal> pcl_ros::FeatureFromNormals::PointCloudN

Definition at line 192 of file feature.h.

◆ PointCloudNConstPtr

typedef boost::shared_ptr<const PointCloudN> pcl_ros::FeatureFromNormals::PointCloudNConstPtr

Definition at line 194 of file feature.h.

◆ PointCloudNPtr

typedef boost::shared_ptr<PointCloudN> pcl_ros::FeatureFromNormals::PointCloudNPtr

Definition at line 193 of file feature.h.

Constructor & Destructor Documentation

◆ FeatureFromNormals()

pcl_ros::FeatureFromNormals::FeatureFromNormals ( )

inline

Definition at line 196 of file feature.h.

Member Function Documentation

◆ childInit()

virtual bool pcl_ros::FeatureFromNormals::childInit ( ros::NodeHandle & nh )

protectedpure virtual

Child initialization routine. Internal method.

Implements pcl_ros::Feature.

Implemented in pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::VFHEstimation, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

◆ computePublish() [1/2]

void pcl_ros::FeatureFromNormals::computePublish	(	const PointCloudInConstPtr &	,
		const PointCloudInConstPtr &	,
		const IndicesPtr &
	)

inlineprivatevirtual

Internal method.

Implements pcl_ros::Feature.

Definition at line 223 of file feature.h.

◆ computePublish() [2/2]

virtual void pcl_ros::FeatureFromNormals::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	normals,
		const PointCloudInConstPtr &	surface,
		const IndicesPtr &	indices
	)

protectedpure virtual

Compute the feature and publish it.

Implemented in pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::VFHEstimation, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

◆ emptyPublish()

virtual void pcl_ros::FeatureFromNormals::emptyPublish ( const PointCloudInConstPtr & cloud )

protectedpure virtual

Publish an empty point cloud of the feature output type.

Implements pcl_ros::Feature.

Implemented in pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::VFHEstimation, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

◆ input_normals_surface_indices_callback()

void pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	cloud_normals,
		const PointCloudInConstPtr &	cloud_surface,
		const PointIndicesConstPtr &	indices
	)

private

Input point cloud callback. Used when use_indices and use_surface are set.

Parameters

cloud	the pointer to the input point cloud
cloud_normals	the pointer to the input point cloud normals
cloud_surface	the pointer to the surface point cloud
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 407 of file feature.cpp.

◆ onInit()

void pcl_ros::FeatureFromNormals::onInit ( )

privatevirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::Feature.

Definition at line 275 of file feature.cpp.

◆ subscribe()

void pcl_ros::FeatureFromNormals::subscribe ( )

privatevirtual

NodeletLazy connection routine.

Reimplemented from pcl_ros::Feature.

Definition at line 319 of file feature.cpp.

◆ unsubscribe()

void pcl_ros::FeatureFromNormals::unsubscribe ( )

privatevirtual

Reimplemented from pcl_ros::Feature.

Definition at line 388 of file feature.cpp.

Member Data Documentation

◆ normals_

PointCloudNConstPtr pcl_ros::FeatureFromNormals::normals_

protected

A pointer to the input dataset that contains the point normals of the XYZ dataset.

Definition at line 196 of file feature.h.

◆ sub_normals_filter_

message_filters::Subscriber<PointCloudN> pcl_ros::FeatureFromNormals::sub_normals_filter_

private

The normals PointCloud subscriber filter.

Definition at line 216 of file feature.h.

◆ sync_input_normals_surface_indices_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > pcl_ros::FeatureFromNormals::sync_input_normals_surface_indices_a_

private

Synchronized input, normals, surface, and point indices.

Definition at line 219 of file feature.h.

◆ sync_input_normals_surface_indices_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > pcl_ros::FeatureFromNormals::sync_input_normals_surface_indices_e_

private

Definition at line 220 of file feature.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ PointCloud2

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

Constructor & Destructor Documentation

◆ FeatureFromNormals()

Member Function Documentation

◆ childInit()

◆ computePublish() [1/2]

◆ computePublish() [2/2]

◆ emptyPublish()

◆ input_normals_surface_indices_callback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ normals_

◆ sub_normals_filter_

◆ sync_input_normals_surface_indices_a_

◆ sync_input_normals_surface_indices_e_