ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it. More...

#include <extract_polygonal_prism_data.h>

Inheritance diagram for pcl_ros::ExtractPolygonalPrismData:

[legend]

List of all members.

Protected Member Functions
void	config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level)
	Dynamic reconfigure callback.
void	input_callback (const PointCloudConstPtr &input)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp.
void	input_hull_indices_callback (const PointCloudConstPtr &cloud, const PointCloudConstPtr &hull, const PointIndicesConstPtr &indices)
	Input point cloud callback. Used when use_indices is set.
void	onInit ()
	Nodelet initialization routine.
Protected Attributes
message_filters::PassThrough < PointIndices >	nf_
	Null passthrough filter, used for pushing empty elements in the synchronizer.
ros::Publisher	pub_output_
	The output PointIndices publisher.
boost::shared_ptr < dynamic_reconfigure::Server < ExtractPolygonalPrismDataConfig > >	srv_
	Pointer to a dynamic reconfigure service.
message_filters::Subscriber < PointCloud >	sub_hull_filter_
	The message filter subscriber for PointCloud2.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ApproximateTime < PointCloud, PointCloud, PointIndices > > >	sync_input_hull_indices_a_
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloud, PointCloud, PointIndices > > >	sync_input_hull_indices_e_
	Synchronized input, planar hull, and indices.
Private Types
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Private Attributes
pcl::ExtractPolygonalPrismData < pcl::PointXYZ >	impl_
	The PCL implementation used.

Detailed Description

ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it.

An example of its usage is to extract the data lying within a set of 3D boundaries (e.g., objects supported by a plane).

Author:: Radu Bogdan Rusu

Definition at line 64 of file extract_polygonal_prism_data.h.

Member Typedef Documentation

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

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 66 of file extract_polygonal_prism_data.h.

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

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 68 of file extract_polygonal_prism_data.h.

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

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 67 of file extract_polygonal_prism_data.h.

Member Function Documentation

void pcl_ros::ExtractPolygonalPrismData::config_callback	(	ExtractPolygonalPrismDataConfig &	config,
		uint32_t	level
	)		`[protected]`

Dynamic reconfigure callback.

Parameters:

config	the config object
level	the dynamic reconfigure level

Definition at line 93 of file extract_polygonal_prism_data.cpp.

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

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

Definition at line 93 of file extract_polygonal_prism_data.h.

void pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback	(	const PointCloudConstPtr &	cloud,
		const PointCloudConstPtr &	hull,
		const PointIndicesConstPtr &	indices
	)		`[protected]`