Class SegmentDifferences

Inheritance Relationships

Base Type

  • public PCLNodelet

Class Documentation

class SegmentDifferences : public PCLNodelet

SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the difference between them for a maximum given distance threshold.

Author

Radu Bogdan Rusu

Public Functions

inline SegmentDifferences()

Empty constructor.

Protected Functions

void onInit()

Nodelet initialization routine.

void subscribe()

LazyNodelet connection routine.

void unsubscribe()
void config_callback(SegmentDifferencesConfig &config, uint32_t level)

Dynamic reconfigure callback.

Parameters:

  • config – the config object

  • level – the dynamic reconfigure level

void input_target_callback(const PointCloudConstPtr &cloud, const PointCloudConstPtr &cloud_target)

Input point cloud callback.

Parameters:

  • cloud – the pointer to the input point cloud

  • cloud_target – the pointcloud that we want to segment cloud from

Protected Attributes

message_filters::Subscriber<PointCloud> sub_target_filter_

The message filter subscriber for PointCloud2.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud>>> sync_input_target_e_

Synchronized input, and planar hull.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloud>>> sync_input_target_a_
boost::shared_ptr<dynamic_reconfigure::Server<SegmentDifferencesConfig>> srv_

Pointer to a dynamic reconfigure service.