Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038 #ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
00039 #define PCL_ROS_EXTRACT_CLUSTERS_H_
00040
00041 #include <pcl/segmentation/extract_clusters.h>
00042 #include "pcl_ros/pcl_nodelet.h"
00043
00044
00045 #include <dynamic_reconfigure/server.h>
00046 #include "pcl_ros/EuclideanClusterExtractionConfig.h"
00047
00048 namespace pcl_ros
00049 {
00050 namespace sync_policies = message_filters::sync_policies;
00051
00054
00057 class EuclideanClusterExtraction : public PCLNodelet
00058 {
00059 public:
00061 EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
00062
00063 protected:
00064
00066 bool publish_indices_;
00067
00069 int max_clusters_;
00070
00072 boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_;
00073
00075 void onInit ();
00076
00081 void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level);
00082
00087 void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);
00088
00089 private:
00091 pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_;
00092
00094 ros::Subscriber sub_input_;
00095
00097 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > sync_input_indices_e_;
00098 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
00099
00100 public:
00101 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00102 };
00103 }
00104
00105 #endif //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_