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:

[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

pcl::SACSegmentation<pcl::PointXYZ> pcl_ros::SACSegmentation::impl_ [private]

The PCL implementation used.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 152 of file sac_segmentation.h.

PointIndices pcl_ros::SACSegmentation::indices_ [protected]

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

Definition at line 124 of file sac_segmentation.h.

int pcl_ros::SACSegmentation::min_inliers_ [protected]

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.

message_filters::PassThrough<PointIndices> pcl_ros::SACSegmentation::nf_pi_ [protected]

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.

std::string pcl_ros::SACSegmentation::tf_input_frame_ [protected]

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.

std::string pcl_ros::SACSegmentation::tf_input_orig_frame_ [protected]

The original data input TF frame.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 97 of file sac_segmentation.h.

std::string pcl_ros::SACSegmentation::tf_output_frame_ [protected]

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:

pcl_ros::SACSegmentation Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation