#include <feature.h>

Inheritance diagram for pcl_ros::FeatureFromNormals:

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
typedef pcl::PointCloud < pcl::Normal >	PointCloudN
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef PointCloudN::Ptr	PointCloudNPtr
Public Member Functions
	FeatureFromNormals ()
Protected Member Functions
virtual bool	childInit (ros::NodeHandle &nh)=0
	Child initialization routine. Internal method.
virtual void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)=0
	Compute the feature and publish it.
virtual void	emptyPublish (const PointCloudInConstPtr &cloud)=0
	Publish an empty point cloud of the feature output type.
Protected Attributes
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset.
Private Member Functions
void	computePublish (const PointCloudInConstPtr &, const PointCloudInConstPtr &, const IndicesPtr &)
	Internal method.
void	input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &cloud_normals, const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
	Input point cloud callback. Used when use_indices and use_surface are set.
virtual void	onInit ()
	Nodelet initialization routine.
Private Attributes
message_filters::Subscriber < PointCloudN >	sub_normals_filter_
	The normals PointCloud subscriber filter.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ApproximateTime < PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > >	sync_input_normals_surface_indices_a_
	Synchronized input, normals, surface, and point indices.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > >	sync_input_normals_surface_indices_e_

Detailed Description

Definition at line 184 of file feature.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::FeatureFromNormals::PointCloud2

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 187 of file feature.h.

typedef pcl::PointCloud<pcl::Normal> pcl_ros::FeatureFromNormals::PointCloudN

Definition at line 189 of file feature.h.

typedef PointCloudN::ConstPtr pcl_ros::FeatureFromNormals::PointCloudNConstPtr

Definition at line 191 of file feature.h.

typedef PointCloudN::Ptr pcl_ros::FeatureFromNormals::PointCloudNPtr

Definition at line 190 of file feature.h.

Constructor & Destructor Documentation

pcl_ros::FeatureFromNormals::FeatureFromNormals ( ) [inline]

Definition at line 193 of file feature.h.

Member Function Documentation

virtual bool pcl_ros::FeatureFromNormals::childInit ( ros::NodeHandle & nh ) [protected, pure virtual]

Child initialization routine. Internal method.

Implements pcl_ros::Feature.

Implemented in pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::VFHEstimation, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

virtual void pcl_ros::FeatureFromNormals::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	normals,
		const PointCloudInConstPtr &	surface,
		const IndicesPtr &	indices
	)		`[protected, pure virtual]`

Compute the feature and publish it.

Implemented in pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::VFHEstimation, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

void pcl_ros::FeatureFromNormals::computePublish	(	const PointCloudInConstPtr &	,
		const PointCloudInConstPtr &	,
		const IndicesPtr &
	)		`[inline, private, virtual]`

Internal method.

Implements pcl_ros::Feature.

Definition at line 220 of file feature.h.

virtual void pcl_ros::FeatureFromNormals::emptyPublish ( const PointCloudInConstPtr & cloud ) [protected, pure virtual]

Publish an empty point cloud of the feature output type.

Implements pcl_ros::Feature.

Implemented in pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::VFHEstimation, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

void pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	cloud_normals,
		const PointCloudInConstPtr &	cloud_surface,
		const PointIndicesConstPtr &	indices
	)		`[private]`

Input point cloud callback. Used when use_indices and use_surface are set.

Parameters:

cloud	the pointer to the input point cloud
cloud_normals	the pointer to the input point cloud normals
cloud_surface	the pointer to the surface point cloud
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 356 of file features/feature.cpp.

void pcl_ros::FeatureFromNormals::onInit ( ) [private, virtual]

Nodelet initialization routine.

Reimplemented from pcl_ros::Feature.

Definition at line 250 of file features/feature.cpp.

Member Data Documentation

PointCloudNConstPtr pcl_ros::FeatureFromNormals::normals_ [protected]

A pointer to the input dataset that contains the point normals of the XYZ dataset.

Definition at line 193 of file feature.h.

message_filters::Subscriber<PointCloudN> pcl_ros::FeatureFromNormals::sub_normals_filter_ [private]

The normals PointCloud subscriber filter.

Definition at line 213 of file feature.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > pcl_ros::FeatureFromNormals::sync_input_normals_surface_indices_a_ [private]

Synchronized input, normals, surface, and point indices.

Definition at line 216 of file feature.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > pcl_ros::FeatureFromNormals::sync_input_normals_surface_indices_e_ [private]

Definition at line 217 of file feature.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation