Public Member Functions
	PlanarRemoval ()
Private Member Functions
void	image_from_sparse_pcl2 (pcl::PointCloud< pcl::PointXYZRGB > cloud, cv::Mat &rgb_image)
void	pcl2_sub_callback (const sensor_msgs::PointCloud2::ConstPtr &msg)
void	reconfigureCallback (iri_pcl_filters::IriPclFiltersParametersConfig &config, uint32_t level)
void	removePlanesXYZRGB (pcl::PointCloud< pcl::PointXYZRGB > cloud, pcl::PointCloud< pcl::PointXYZRGB > &cloud_filtered_rgb, pcl::PointCloud< pcl::PointXYZRGB > &cloud_filtered, pcl::PointCloud< pcl::PointXYZRGB > &cloud_planes)
Private Attributes
double	cloud_remaining_proportion_threshold_
ros::Publisher	coefficients_pub_
cv_bridge::CvImage	cv_image
double	distance_threshold_
dynamic_reconfigure::Server < iri_pcl_filters::IriPclFiltersParametersConfig >	dyn_reconfig_srv
sensor_msgs::Image	image_msg_
image_transport::Publisher	image_pub_
image_transport::ImageTransport	it_
int	max_num_of_planes_removed_
CMutex	mutex
ros::NodeHandle	nh_
sensor_msgs::PointCloud2	pcl2_filtered_msg_
sensor_msgs::PointCloud2	pcl2_planes_msg_
ros::Publisher	pcl2_planes_pub_
ros::Publisher	pcl2_pub_
ros::Subscriber	pcl2_sub_
pcl::PointCloud< pcl::PointXYZ >	pcl_planes_xyz_
pcl::PointCloud< pcl::PointXYZRGB >	pcl_planes_xyzrgb_
pcl::PointCloud< pcl::PointXYZ >	pcl_xyz_
pcl::PointCloud< pcl::PointXYZ >	pcl_xyzrgb2_
pcl::PointCloud< pcl::PointXYZRGB >	pcl_xyzrgb_

Detailed Description

Definition at line 55 of file planar_removal.h.

Constructor & Destructor Documentation

PlanarRemoval::PlanarRemoval ( )

Definition at line 6 of file planar_removal.cpp.

void PlanarRemoval::image_from_sparse_pcl2	(	pcl::PointCloud< pcl::PointXYZRGB >	cloud,
		cv::Mat &	rgb_image
	)		`[private]`

retrieves the rgb component of the pointcloud and sets it to an opencv2 image

Definition at line 178 of file planar_removal.cpp.

void PlanarRemoval::pcl2_sub_callback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [private]

Definition at line 140 of file planar_removal.cpp.

void PlanarRemoval::reconfigureCallback	(	iri_pcl_filters::IriPclFiltersParametersConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 40 of file planar_removal.cpp.

void PlanarRemoval::removePlanesXYZRGB	(	pcl::PointCloud< pcl::PointXYZRGB >	cloud,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud_filtered_rgb,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud_filtered,
		pcl::PointCloud< pcl::PointXYZRGB > &	cloud_planes
	)		`[private]`

Parameters:

cloud	input pcl
cloud_filtered_rgb	sets the rgb of the plane inliers points to color (default: black)
cloud_filtered	sets the plane inliers points to nan
cloud_panes	unorganized point cloud of the segmented plane

Definition at line 53 of file planar_removal.cpp.