Public Member Functions | Protected Member Functions | Protected Attributes | Private Types | Private Attributes
pcl_ros::SACSegmentation Class Reference

SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation. More...

#include <sac_segmentation.h>

Inheritance diagram for pcl_ros::SACSegmentation:
Inheritance graph
[legend]

List of all members.

Public Member Functions

std::string getInputTFframe ()
 Get the TF frame the input PointCloud should be transformed into before processing.
std::string getOutputTFframe ()
 Get the TF frame the PointCloud should be transformed into after processing.
 SACSegmentation ()
 Constructor.
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.
void setOutputTFframe (std::string tf_frame)
 Set the output TF frame the data should be transformed into after processing.

Protected Member Functions

void config_callback (SACSegmentationConfig &config, uint32_t level)
 Dynamic reconfigure callback.
void indices_callback (const PointIndicesConstPtr &indices)
 Indices callback. Used when latched_indices_ is set.
void input_callback (const PointCloudConstPtr &input)
 Input callback. Used when latched_indices_ is set.
void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
 Input point cloud callback. Used when use_indices is set.
virtual void onInit ()
 Nodelet initialization routine.

Protected Attributes

PointIndices indices_
 Pointer to a set of indices stored internally. (used when latched_indices_ is set).
int min_inliers_
message_filters::PassThrough
< pcl_msgs::PointIndices > 
nf_pi_
 Null passthrough filter, used for pushing empty elements in the synchronizer.
ros::Publisher pub_indices_
 The output PointIndices publisher.
ros::Publisher pub_model_
 The output ModelCoefficients publisher.
boost::shared_ptr
< dynamic_reconfigure::Server
< SACSegmentationConfig > > 
srv_
 Pointer to a dynamic reconfigure service.
ros::Subscriber sub_input_
 The input PointCloud subscriber.
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.

Private Types

typedef pcl::PointCloud
< pcl::PointXYZ > 
PointCloud
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointCloud::Ptr PointCloudPtr

Private Attributes

pcl::SACSegmentation
< pcl::PointXYZ > 
impl_
 The PCL implementation used.
boost::mutex mutex_
 Internal mutex.
boost::shared_ptr
< message_filters::Synchronizer
< sync_policies::ApproximateTime
< PointCloud, PointIndices > > > 
sync_input_indices_a_
boost::shared_ptr
< message_filters::Synchronizer
< sync_policies::ExactTime
< PointCloud, PointIndices > > > 
sync_input_indices_e_
 Synchronized input, and indices.

Detailed Description

SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.

Author:
Radu Bogdan Rusu

Definition at line 61 of file sac_segmentation.h.


Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZ> pcl_ros::SACSegmentation::PointCloud [private]

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 63 of file sac_segmentation.h.

typedef PointCloud::ConstPtr pcl_ros::SACSegmentation::PointCloudConstPtr [private]

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 65 of file sac_segmentation.h.

typedef PointCloud::Ptr pcl_ros::SACSegmentation::PointCloudPtr [private]

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 64 of file sac_segmentation.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 69 of file sac_segmentation.h.


Member Function Documentation

void pcl_ros::SACSegmentation::config_callback ( SACSegmentationConfig &  config,
uint32_t  level 
) [protected]

Dynamic reconfigure callback.

Parameters:
configthe config object
levelthe dynamic reconfigure level

Definition at line 174 of file sac_segmentation.cpp.

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

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 77 of file sac_segmentation.h.

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

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 85 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::indices_callback ( const PointIndicesConstPtr indices) [inline, protected]

Indices callback. Used when latched_indices_ is set.

Parameters:
indicesthe pointer to the input point cloud indices

Definition at line 141 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::input_callback ( const PointCloudConstPtr input) [inline, protected]

Input callback. Used when latched_indices_ is set.

Parameters:
inputthe pointer to the input point cloud

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 150 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::input_indices_callback ( const PointCloudConstPtr cloud,
const PointIndicesConstPtr indices 
) [protected]

Input point cloud callback. Used when use_indices is set.

Parameters:
cloudthe pointer to the input point cloud
indicesthe pointer to the input point cloud indices

DEBUG

Definition at line 247 of file sac_segmentation.cpp.

void pcl_ros::SACSegmentation::onInit ( ) [protected, virtual]

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 48 of file sac_segmentation.cpp.

void pcl_ros::SACSegmentation::setInputTFframe ( std::string  tf_frame) [inline]

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

Parameters:
tf_framethe TF frame the input PointCloud should be transformed into before processing

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 74 of file sac_segmentation.h.

void pcl_ros::SACSegmentation::setOutputTFframe ( std::string  tf_frame) [inline]

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

Parameters:
tf_framethe TF frame the PointCloud should be transformed into after processing

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 82 of file sac_segmentation.h.


Member Data Documentation

The PCL implementation used.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 163 of file sac_segmentation.h.

Pointer to a set of indices stored internally. (used when latched_indices_ is set).

Definition at line 135 of file sac_segmentation.h.

Definition at line 89 of file sac_segmentation.h.

boost::mutex pcl_ros::SACSegmentation::mutex_ [private]

Internal mutex.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 160 of file sac_segmentation.h.

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

Definition at line 115 of file sac_segmentation.h.

The output PointIndices publisher.

Definition at line 93 of file sac_segmentation.h.

The output ModelCoefficients publisher.

Definition at line 96 of file sac_segmentation.h.

boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > pcl_ros::SACSegmentation::srv_ [protected]

Pointer to a dynamic reconfigure service.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 102 of file sac_segmentation.h.

The input PointCloud subscriber.

Definition at line 99 of file sac_segmentation.h.

Definition at line 167 of file sac_segmentation.h.

Synchronized input, and indices.

Definition at line 166 of file sac_segmentation.h.

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

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 105 of file sac_segmentation.h.

The original data input TF frame.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 108 of file sac_segmentation.h.

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

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 111 of file sac_segmentation.h.


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


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu May 5 2016 04:16:43