pcl_ros::SACSegmentationFromNormals Class Reference

SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation. More...

#include <sac_segmentation.h>

Inheritance diagram for pcl_ros::SACSegmentationFromNormals:

[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.
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	axis_callback (const pcl::ModelCoefficientsConstPtr &model)
	Model callback.
void	config_callback (SACSegmentationFromNormalsConfig &config, uint32_t level)
	Dynamic reconfigure callback.
void	input_callback (const PointCloudConstPtr &cloud)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp.
void	input_normals_indices_callback (const PointCloudConstPtr &cloud, const PointCloudNConstPtr &cloud_normals, const PointIndicesConstPtr &indices)
	Input point cloud callback.
virtual void	onInit ()
	Nodelet initialization routine.
Protected Attributes
message_filters::PassThrough < PointIndices >	nf_
	Null passthrough filter, used for pushing empty elements in the synchronizer.
boost::shared_ptr < dynamic_reconfigure::Server < SACSegmentationFromNormalsConfig > >	srv_
	Pointer to a dynamic reconfigure service.
ros::Subscriber	sub_axis_
	The input PointCloud subscriber.
message_filters::Subscriber < PointCloudN >	sub_normals_filter_
	The normals PointCloud subscriber filter.
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 pcl::PointCloud < pcl::Normal >	PointCloudN
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef PointCloudN::Ptr	PointCloudNPtr
typedef PointCloud::Ptr	PointCloudPtr
Private Attributes
pcl::SACSegmentationFromNormals < pcl::PointXYZ, pcl::Normal >	impl_
	The PCL implementation used.
boost::mutex	mutex_
	Internal mutex.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ApproximateTime < PointCloud, PointCloudN, PointIndices > > >	sync_input_normals_indices_a_
	Synchronized input, normals, and indices.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloud, PointCloudN, PointIndices > > >	sync_input_normals_indices_e_

Detailed Description

SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation.

Definition at line 175 of file sac_segmentation.h.

Member Typedef Documentation

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

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 177 of file sac_segmentation.h.

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

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 179 of file sac_segmentation.h.

typedef pcl::PointCloud<pcl::Normal> pcl_ros::SACSegmentationFromNormals::PointCloudN [private]

Definition at line 181 of file sac_segmentation.h.

typedef PointCloudN::ConstPtr pcl_ros::SACSegmentationFromNormals::PointCloudNConstPtr [private]

Definition at line 183 of file sac_segmentation.h.

typedef PointCloudN::Ptr pcl_ros::SACSegmentationFromNormals::PointCloudNPtr [private]

Definition at line 182 of file sac_segmentation.h.

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

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 178 of file sac_segmentation.h.

Member Function Documentation

void pcl_ros::SACSegmentationFromNormals::axis_callback ( const pcl::ModelCoefficientsConstPtr & model ) [protected]

Model callback.

Parameters:

model

the sample consensus model found

Definition at line 455 of file sac_segmentation.cpp.

void pcl_ros::SACSegmentationFromNormals::config_callback	(	SACSegmentationFromNormalsConfig &	config,
		uint32_t	level
	)			`[protected]`

Dynamic reconfigure callback.

Parameters:

	config	the config object
	level	the dynamic reconfigure level

Definition at line 472 of file sac_segmentation.cpp.

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

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

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 192 of file sac_segmentation.h.

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

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

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 200 of file sac_segmentation.h.

void pcl_ros::SACSegmentationFromNormals::input_callback ( const PointCloudConstPtr & cloud ) [inline, protected]

Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp.

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 218 of file sac_segmentation.h.

void pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback	(	const PointCloudConstPtr &	cloud,
		const PointCloudNConstPtr &	cloud_normals,
		const PointIndicesConstPtr &	indices
	)			`[protected]`

Input point cloud callback.

Parameters:

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

DEBUG

Definition at line 538 of file sac_segmentation.cpp.

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

Nodelet initialization routine.

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 335 of file sac_segmentation.cpp.

void pcl_ros::SACSegmentationFromNormals::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 from pcl_ros::SACSegmentation.