DifferenceSegmentation Class Reference

Segments the difference of two point clouds (e.g. a point map and new sensor data) and publishes the difference. More...

Inheritance diagram for DifferenceSegmentation:

List of all members.

Public Member Functions
	DifferenceSegmentation ()
void	onInit ()
	initializes parameters
void	pointCloudSubCallback (const sensor_msgs::PointCloud2::ConstPtr &map_msg, const sensor_msgs::PointCloud2::ConstPtr &pc_aligned_msg)
	callback for point cloud subroutine
	~DifferenceSegmentation ()
Protected Attributes
pcl::PointCloud< Point >	map_
ros::Publisher	map_diff_pub_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	map_sub_
ros::NodeHandle	n_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	pc_aligned_sub_
pcl::SegmentDifferences< Point >	sd_
boost::shared_ptr < message_filters::Synchronizer < MySyncPolicy > >	sync_
Private Types
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	MySyncPolicy
typedef pcl::PointXYZRGB	Point
typedef pcl::PointCloud< Point >	PointCloud

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Detailed Description

Segments the difference of two point clouds (e.g. a point map and new sensor data) and publishes the difference.

Definition at line 91 of file difference_segmentation.cpp.

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Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > DifferenceSegmentation::MySyncPolicy [private]

Definition at line 95 of file difference_segmentation.cpp.

typedef pcl::PointXYZRGB DifferenceSegmentation::Point [private]

Definition at line 93 of file difference_segmentation.cpp.

typedef pcl::PointCloud<Point> DifferenceSegmentation::PointCloud [private]

Definition at line 94 of file difference_segmentation.cpp.

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Constructor & Destructor Documentation

DifferenceSegmentation::DifferenceSegmentation

(

)

[inline]

Definition at line 99 of file difference_segmentation.cpp.

DifferenceSegmentation::~DifferenceSegmentation

(

)

[inline]

void

Definition at line 104 of file difference_segmentation.cpp.

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Member Function Documentation

void DifferenceSegmentation::onInit

(

)

[inline, virtual]

initializes parameters

initializes parameters

Returns:

nothing

Implements nodelet::Nodelet.

Definition at line 117 of file difference_segmentation.cpp.

void DifferenceSegmentation::pointCloudSubCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	map_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	pc_aligned_msg
	)		[inline]

callback for point cloud subroutine

callback for point cloud subroutine which stores the point cloud for further calculation

Parameters:

pc_in

new point cloud

Returns:

nothing

Definition at line 144 of file difference_segmentation.cpp.

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Member Data Documentation

pcl::PointCloud<Point> DifferenceSegmentation::map_ [protected]

Definition at line 181 of file difference_segmentation.cpp.

ros::Publisher DifferenceSegmentation::map_diff_pub_ [protected]

Definition at line 178 of file difference_segmentation.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2 > DifferenceSegmentation::map_sub_ [protected]

Definition at line 176 of file difference_segmentation.cpp.

ros::NodeHandle DifferenceSegmentation::n_ [protected]

Definition at line 175 of file difference_segmentation.cpp.

message_filters::Subscriber<sensor_msgs::PointCloud2 > DifferenceSegmentation::pc_aligned_sub_ [protected]

Definition at line 177 of file difference_segmentation.cpp.

pcl::SegmentDifferences<Point> DifferenceSegmentation::sd_ [protected]

Definition at line 182 of file difference_segmentation.cpp.

boost::shared_ptr<message_filters::Synchronizer<MySyncPolicy> > DifferenceSegmentation::sync_ [protected]

Definition at line 179 of file difference_segmentation.cpp.

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The documentation for this class was generated from the following file:

• difference_segmentation.cpp