GroundRemoval Class Reference

List of all members.

Public Member Functions
void	cloud_cb (const sensor_msgs::PointCloudConstPtr &msg)
bool	fitSACLine (sensor_msgs::PointCloud points, vector< int > indices, vector< int > &inliers)
	Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.
void	getCloudViewPoint (string cloud_frame, geometry_msgs::PointStamped &viewpoint_cloud, tf::TransformListener *tf)
	Get the view point from where the scans were taken in the incoming PointCloud message frame.
	GroundRemoval (ros::NodeHandle &anode)
void	splitPointsBasedOnLaserScanIndex (sensor_msgs::PointCloud points, vector< int > indices, vector< vector< int > > &clusters, int idx)
	Decompose a PointCloud message into LaserScan clusters.
double	transformDoubleValueTF (double val, std::string src_frame, std::string tgt_frame, ros::Time stamp, tf::TransformListener *tf)
	Transform a value from a source frame to a target frame at a certain moment in time with TF.
void	transformPoint (tf::TransformListener *tf, const std::string &target_frame, const tf::Stamped< geometry_msgs::Point32 > &stamped_in, tf::Stamped< geometry_msgs::Point32 > &stamped_out)
	Transform a given point from its current frame to a given target frame.
void	updateParametersFromServer ()
Public Attributes
sensor_msgs::PointCloud	cloud_
sensor_msgs::PointCloud	cloud_noground_
ros::Publisher	cloud_publisher_
ros::Subscriber	cloud_subscriber_
int	planar_refine_
double	sac_distance_threshold_
int	sac_max_iterations_
int	sac_min_points_per_model_
tf::TransformListener	tf_
geometry_msgs::PointStamped	viewpoint_cloud_
double	z_threshold_
Protected Attributes
ros::NodeHandle &	node_

Detailed Description

Definition at line 70 of file sac_ground_removal.cpp.

Constructor & Destructor Documentation

GroundRemoval::GroundRemoval ( ros::NodeHandle & anode ) [inline]

Definition at line 93 of file sac_ground_removal.cpp.

Member Function Documentation

void GroundRemoval::cloud_cb ( const sensor_msgs::PointCloudConstPtr & msg ) [inline]

Definition at line 222 of file sac_ground_removal.cpp.

bool GroundRemoval::fitSACLine	(	sensor_msgs::PointCloud *	points,
		vector< int > *	indices,
		vector< int > &	inliers
	)			`[inline]`

Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.

Parameters:

	points	the point cloud message
	indices	a pointer to a set of point cloud indices to test
	inliers	the resultant inliers

Definition at line 183 of file sac_ground_removal.cpp.

void GroundRemoval::getCloudViewPoint	(	string	cloud_frame,
		geometry_msgs::PointStamped &	viewpoint_cloud,
		tf::TransformListener *	tf
	)			`[inline]`

Get the view point from where the scans were taken in the incoming PointCloud message frame.

Parameters:

	cloud_frame	the point cloud message TF frame
	viewpoint_cloud	the resultant view point in the incoming cloud frame
	tf	a pointer to a TransformListener object

Definition at line 403 of file sac_ground_removal.cpp.

void GroundRemoval::splitPointsBasedOnLaserScanIndex	(	sensor_msgs::PointCloud *	points,
		vector< int > *	indices,
		vector< vector< int > > &	clusters,
		int	idx
	)			`[inline]`

Decompose a PointCloud message into LaserScan clusters.

Parameters:

	points	pointer to the point cloud message
	indices	pointer to a list of point indices
	clusters	the resultant clusters
	idx	the index of the channel containing the laser scan index

Definition at line 138 of file sac_ground_removal.cpp.

double GroundRemoval::transformDoubleValueTF	(	double	val,
		std::string	src_frame,
		std::string	tgt_frame,
		ros::Time	stamp,
		tf::TransformListener *	tf
	)			`[inline]`

Transform a value from a source frame to a target frame at a certain moment in time with TF.

Parameters:

	val	the value to transform
	src_frame	the source frame to transform the value from
	tgt_frame	the target frame to transform the value into
	stamp	a given time stamp
	tf	a pointer to a TransformListener object

Definition at line 467 of file sac_ground_removal.cpp.

void GroundRemoval::transformPoint	(	tf::TransformListener *	tf,
		const std::string &	target_frame,
		const tf::Stamped< geometry_msgs::Point32 > &	stamped_in,
		tf::Stamped< geometry_msgs::Point32 > &	stamped_out
	)			`[inline]`

Transform a given point from its current frame to a given target frame.

Parameters:

	tf	a pointer to a TransformListener object
	target_frame	the target frame to transform the point into
	stamped_in	the input point
	stamped_out	the output point