SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold. More...

#include <segment_differences.h>

Inheritance diagram for pcl_ros::SegmentDifferences:

[legend]

Public Member Functions
	SegmentDifferences ()
	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
void	config_callback (SegmentDifferencesConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	input_target_callback (const PointCloudConstPtr &cloud, const PointCloudConstPtr &cloud_target)
	Input point cloud callback. More...

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

void	subscribe ()
	LazyNodelet connection routine. More...

void	unsubscribe ()

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

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

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud, PointCloud > > >	sync_input_target_a_

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud, PointCloud > > >	sync_input_target_e_
	Synchronized input, and planar hull. 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 Types
typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

Private Attributes
pcl::SegmentDifferences< pcl::PointXYZ >	impl_
	The PCL implementation used. More...

Additional Inherited Members
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

Detailed Description

SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold.

Author: Radu Bogdan Rusu

Definition at line 60 of file segment_differences.h.

Member Typedef Documentation

◆ PointCloud

typedef pcl::PointCloud<pcl::PointXYZ> pcl_ros::SegmentDifferences::PointCloud

private

Definition at line 62 of file segment_differences.h.

◆ PointCloudConstPtr

typedef boost::shared_ptr<const PointCloud> pcl_ros::SegmentDifferences::PointCloudConstPtr

private

Definition at line 64 of file segment_differences.h.

◆ PointCloudPtr

typedef boost::shared_ptr<PointCloud> pcl_ros::SegmentDifferences::PointCloudPtr

private

Definition at line 63 of file segment_differences.h.

Constructor & Destructor Documentation

◆ SegmentDifferences()

pcl_ros::SegmentDifferences::SegmentDifferences ( )

inline

Empty constructor.

Definition at line 68 of file segment_differences.h.

Member Function Documentation

◆ config_callback()

void pcl_ros::SegmentDifferences::config_callback	(	SegmentDifferencesConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 95 of file segment_differences.cpp.

◆ input_target_callback()

void pcl_ros::SegmentDifferences::input_target_callback	(	const PointCloudConstPtr &	cloud,
		const PointCloudConstPtr &	cloud_target
	)

protected

Input point cloud callback.

Parameters

cloud	the pointer to the input point cloud
cloud_target	the pointcloud that we want to segment cloud from

Definition at line 107 of file segment_differences.cpp.

◆ onInit()

void pcl_ros::SegmentDifferences::onInit ( )

protectedvirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 43 of file segment_differences.cpp.

◆ subscribe()

void pcl_ros::SegmentDifferences::subscribe ( )

protectedvirtual

LazyNodelet connection routine.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 60 of file segment_differences.cpp.

◆ unsubscribe()

void pcl_ros::SegmentDifferences::unsubscribe ( )

protectedvirtual

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 87 of file segment_differences.cpp.

Member Data Documentation

◆ impl_

pcl::SegmentDifferences<pcl::PointXYZ> pcl_ros::SegmentDifferences::impl_

private

The PCL implementation used.

Definition at line 103 of file segment_differences.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<SegmentDifferencesConfig> > pcl_ros::SegmentDifferences::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 79 of file segment_differences.h.

◆ sub_target_filter_

message_filters::Subscriber<PointCloud> pcl_ros::SegmentDifferences::sub_target_filter_

protected

The message filter subscriber for PointCloud2.

Definition at line 68 of file segment_differences.h.

◆ sync_input_target_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud> > > pcl_ros::SegmentDifferences::sync_input_target_a_

protected

Definition at line 76 of file segment_differences.h.

◆ sync_input_target_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud> > > pcl_ros::SegmentDifferences::sync_input_target_e_

protected

Synchronized input, and planar hull.

Definition at line 75 of file segment_differences.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ SegmentDifferences()

Member Function Documentation

◆ config_callback()

◆ input_target_callback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ impl_

◆ srv_

◆ sub_target_filter_

◆ sync_input_target_a_

◆ sync_input_target_e_