Class SACSegmentationFromNormals

Inheritance Relationships

Base Type

Class Documentation

class SACSegmentationFromNormals : public pcl_ros::SACSegmentation

SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation.

Public Functions

inline void setInputTFframe(std::string tf_frame)

Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.

Parameters:

tf_frame – the TF frame the input PointCloud should be transformed into before processing

inline std::string getInputTFframe()

Get the TF frame the input PointCloud should be transformed into before processing.

inline void setOutputTFframe(std::string tf_frame)

Set the output TF frame the data should be transformed into after processing.

Parameters:

tf_frame – the TF frame the PointCloud should be transformed into after processing

inline std::string getOutputTFframe()

Get the TF frame the PointCloud should be transformed into after processing.

Protected Functions

inline void input_callback(const PointCloudConstPtr &cloud)

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

virtual void onInit()

Nodelet initialization routine.

virtual void subscribe()

LazyNodelet connection routine.

virtual void unsubscribe()
void axis_callback(const pcl_msgs::ModelCoefficientsConstPtr &model)

Model callback.

Parameters:

model – the sample consensus model found

void config_callback(SACSegmentationFromNormalsConfig &config, uint32_t level)

Dynamic reconfigure callback.

Parameters:

  • config – the config object

  • level – the dynamic reconfigure level

void input_normals_indices_callback(const PointCloudConstPtr &cloud, const PointCloudNConstPtr &cloud_normals, const PointIndicesConstPtr &indices)

Input point cloud callback.

Parameters:

  • cloud – the pointer to the input point cloud

  • cloud_normals – the pointer to the input point cloud normals

  • indices – the pointer to the input point cloud indices

Protected Attributes

message_filters::Subscriber<PointCloudN> sub_normals_filter_

The normals PointCloud subscriber filter.

ros::Subscriber sub_axis_

The input PointCloud subscriber.

boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig>> srv_

Pointer to a dynamic reconfigure service.

message_filters::PassThrough<PointIndices> nf_

Null passthrough filter, used for pushing empty elements in the synchronizer.

std::string tf_input_frame_

The input TF frame the data should be transformed into, if input.header.frame_id is different.

std::string tf_input_orig_frame_

The original data input TF frame.

std::string tf_output_frame_

The output TF frame the data should be transformed into, if input.header.frame_id is different.