pcl_ros::SACSegmentation Class Reference

SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation. More...

#include <sac_segmentation.h>

Inheritance diagram for pcl_ros::SACSegmentation:
Inheritance graph
[legend]

List of all members.

Public Member Functions

std::string getInputTFframe ()
 Get the TF frame the input PointCloud should be transformed into before processing.
std::string getOutputTFframe ()
 Get the TF frame the PointCloud should be transformed into after processing.
 SACSegmentation ()
 Constructor.
void setInputTFframe (std::string tf_frame)
 Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
void setOutputTFframe (std::string tf_frame)
 Set the output TF frame the data should be transformed into after processing.

Protected Member Functions

void config_callback (SACSegmentationConfig &config, uint32_t level)
 Dynamic reconfigure callback.
void indices_callback (const PointIndicesConstPtr &indices)
 Indices callback. Used when latched_indices_ is set.
void input_callback (const PointCloudConstPtr &input)
 Input callback. Used when latched_indices_ is set.
void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
 Input point cloud callback. Used when use_indices is set.
virtual void onInit ()
 Nodelet initialization routine.

Protected Attributes

PointIndices indices_
 Pointer to a set of indices stored internally. (used when latched_indices_ is set).
int min_inliers_
message_filters::PassThrough
< PointIndices
nf_pi_
 Null passthrough filter, used for pushing empty elements in the synchronizer.
ros::Publisher pub_indices_
 The output PointIndices publisher.
ros::Publisher pub_model_
 The output ModelCoefficients publisher.
boost::shared_ptr
< dynamic_reconfigure::Server
< SACSegmentationConfig > > 
srv_
 Pointer to a dynamic reconfigure service.
ros::Subscriber sub_input_
 The input PointCloud subscriber.
std::string tf_input_frame_
 The input TF frame the data should be transformed into, if input.header.frame_id is different.
std::string tf_input_orig_frame_
 The original data input TF frame.
std::string tf_output_frame_
 The output TF frame the data should be transformed into, if input.header.frame_id is different.

Private Types

typedef pcl::PointCloud
< pcl::PointXYZ > 
PointCloud
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointCloud::Ptr PointCloudPtr

Private Attributes

pcl::SACSegmentation
< pcl::PointXYZ > 
impl_
 The PCL implementation used.
boost::mutex mutex_
 Internal mutex.
boost::shared_ptr
< message_filters::Synchronizer
< sync_policies::ApproximateTime
< PointCloud, PointIndices > > > 
sync_input_indices_a_
boost::shared_ptr
< message_filters::Synchronizer
< sync_policies::ExactTime
< PointCloud, PointIndices > > > 
sync_input_indices_e_
 Synchronized input, and indices.

Detailed Description

SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.

Author:
Radu Bogdan Rusu

Definition at line 59 of file sac_segmentation.h.


Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> pcl_ros::SACSegmentation::PointCloud [private]

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 52 of file sac_segmentation.h.

typedef PointCloud::ConstPtr pcl_ros::SACSegmentation::PointCloudConstPtr [private]

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 54 of file sac_segmentation.h.

typedef PointCloud::Ptr pcl_ros::SACSegmentation::PointCloudPtr [private]

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 53 of file sac_segmentation.h.


Constructor & Destructor Documentation

pcl_ros::SACSegmentation::SACSegmentation (  )  [inline]

Constructor.

Definition at line 58 of file sac_segmentation.h.


Member Function Documentation

void pcl_ros::SACSegmentation::config_callback ( SACSegmentationConfig config,
uint32_t  level 
) [protected]

Dynamic reconfigure callback.

Parameters:
config the config object
level the dynamic reconfigure level

Definition at line 169 of file sac_segmentation.cpp.

std::string pcl_ros::SACSegmentation::getInputTFframe (  )  [inline]

Get the TF frame the input PointCloud should be transformed into before processing.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 66 of file sac_segmentation.h.

std::string pcl_ros::SACSegmentation::getOutputTFframe (  )  [inline]

Get the TF frame the PointCloud should be transformed into after processing.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 74 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::indices_callback ( const PointIndicesConstPtr indices  )  [inline, protected]

Indices callback. Used when latched_indices_ is set.

Parameters:
indices the pointer to the input point cloud indices

Definition at line 130 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::input_callback ( const PointCloudConstPtr input  )  [inline, protected]

Input callback. Used when latched_indices_ is set.

Parameters:
input the pointer to the input point cloud

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 139 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::input_indices_callback ( const PointCloudConstPtr cloud,
const PointIndicesConstPtr indices 
) [protected]

Input point cloud callback. Used when use_indices is set.

Parameters:
cloud the pointer to the input point cloud
indices the pointer to the input point cloud indices

DEBUG

Definition at line 242 of file sac_segmentation.cpp.

void pcl_ros::SACSegmentation::onInit (  )  [protected, virtual]

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 43 of file sac_segmentation.cpp.

void pcl_ros::SACSegmentation::setInputTFframe ( std::string  tf_frame  )  [inline]

Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.

Parameters:
tf_frame the TF frame the input PointCloud should be transformed into before processing

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 63 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::setOutputTFframe ( std::string  tf_frame  )  [inline]

Set the output TF frame the data should be transformed into after processing.

Parameters:
tf_frame the TF frame the PointCloud should be transformed into after processing

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 71 of file sac_segmentation.h.


Member Data Documentation

The PCL implementation used.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 152 of file sac_segmentation.h.

Pointer to a set of indices stored internally. (used when latched_indices_ is set).

Definition at line 124 of file sac_segmentation.h.

Definition at line 78 of file sac_segmentation.h.

boost::mutex pcl_ros::SACSegmentation::mutex_ [private]

Internal mutex.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 149 of file sac_segmentation.h.

Null passthrough filter, used for pushing empty elements in the synchronizer.

Definition at line 104 of file sac_segmentation.h.

ros::Publisher pcl_ros::SACSegmentation::pub_indices_ [protected]

The output PointIndices publisher.

Definition at line 82 of file sac_segmentation.h.

ros::Publisher pcl_ros::SACSegmentation::pub_model_ [protected]

The output ModelCoefficients publisher.

Definition at line 85 of file sac_segmentation.h.

boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > pcl_ros::SACSegmentation::srv_ [protected]

Pointer to a dynamic reconfigure service.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 91 of file sac_segmentation.h.

ros::Subscriber pcl_ros::SACSegmentation::sub_input_ [protected]

The input PointCloud subscriber.

Definition at line 88 of file sac_segmentation.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > pcl_ros::SACSegmentation::sync_input_indices_a_ [private]

Definition at line 156 of file sac_segmentation.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > pcl_ros::SACSegmentation::sync_input_indices_e_ [private]

Synchronized input, and indices.

Definition at line 155 of file sac_segmentation.h.

The input TF frame the data should be transformed into, if input.header.frame_id is different.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 94 of file sac_segmentation.h.

The original data input TF frame.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 97 of file sac_segmentation.h.

The output TF frame the data should be transformed into, if input.header.frame_id is different.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 100 of file sac_segmentation.h.


The documentation for this class was generated from the following files:
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:15:55 2013