pcl_ros::FeatureFromNormals Class Reference

#include <feature.h>

Inheritance diagram for pcl_ros::FeatureFromNormals:

[legend]

List of all members.

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
typedef pcl::PointCloud < pcl::Normal >	PointCloudN
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef PointCloudN::Ptr	PointCloudNPtr
Public Member Functions
	FeatureFromNormals ()
Protected Member Functions
virtual bool	childInit (ros::NodeHandle &nh)=0
	Child initialization routine. Internal method.
virtual void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesConstPtr &indices)=0
	Compute the feature and publish it.
virtual void	emptyPublish (const PointCloudInConstPtr &cloud)=0
	Publish an empty point cloud of the feature output type.
Protected Attributes
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset.
Private Member Functions
void	computePublish (const PointCloudInConstPtr &, const PointCloudInConstPtr &, const IndicesConstPtr &)
	Internal method.
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.
virtual void	onInit ()
	Nodelet initialization routine.
Private Attributes
message_filters::Subscriber < PointCloudN >	sub_normals_filter_
	The normals PointCloud subscriber filter.
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.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > >	sync_input_normals_surface_indices_e_

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Detailed Description

Definition at line 181 of file feature.h.

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Member Typedef Documentation

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

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 184 of file feature.h.

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

Definition at line 186 of file feature.h.

typedef PointCloudN::ConstPtr pcl_ros::FeatureFromNormals::PointCloudNConstPtr

Definition at line 188 of file feature.h.

typedef PointCloudN::Ptr pcl_ros::FeatureFromNormals::PointCloudNPtr

Definition at line 187 of file feature.h.

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Constructor & Destructor Documentation

pcl_ros::FeatureFromNormals::FeatureFromNormals

(

)

[inline]

Definition at line 190 of file feature.h.

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Member Function Documentation

virtual bool pcl_ros::FeatureFromNormals::childInit

(

ros::NodeHandle &

nh

)

[protected, pure virtual]

Child initialization routine. Internal method.

Implements pcl_ros::Feature.

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

void pcl_ros::FeatureFromNormals::computePublish	(	const PointCloudInConstPtr &	,
		const PointCloudInConstPtr &	,
		const IndicesConstPtr &
	)			[inline, private, virtual]

Internal method.

Implements pcl_ros::Feature.

Definition at line 217 of file feature.h.

virtual void pcl_ros::FeatureFromNormals::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	normals,
		const PointCloudInConstPtr &	surface,
		const IndicesConstPtr &	indices
	)			[protected, pure virtual]

Compute the feature and publish it.

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

virtual void pcl_ros::FeatureFromNormals::emptyPublish

(

const PointCloudInConstPtr &

cloud

)

[protected, pure virtual]

Publish an empty point cloud of the feature output type.

Implements pcl_ros::Feature.

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

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 355 of file feature.cpp.

void pcl_ros::FeatureFromNormals::onInit

(

)

[private, virtual]

Nodelet initialization routine.

Reimplemented from pcl_ros::Feature.

Definition at line 249 of file feature.cpp.

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Member Data Documentation

PointCloudNConstPtr pcl_ros::FeatureFromNormals::normals_ [protected]

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

Definition at line 190 of file feature.h.

message_filters::Subscriber<PointCloudN> pcl_ros::FeatureFromNormals::sub_normals_filter_ [private]

The normals PointCloud subscriber filter.

Definition at line 210 of file feature.h.

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 213 of file feature.h.

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 214 of file feature.h.

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

• feature.h
• feature.cpp