border_estimator.h
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35 
36 
37 #ifndef JSK_PCL_ROS_BORDER_ESTIMATOR_H_
38 #define JSK_PCL_ROS_BORDER_ESTIMATOR_H_
39 
40 #include <pcl_ros/pcl_nodelet.h>
41 #include <pcl/range_image/range_image.h>
42 #include <pcl/features/range_image_border_extractor.h>
43 
44 #include <sensor_msgs/PointCloud2.h>
45 #include <sensor_msgs/CameraInfo.h>
47 
51 
53 
54 #include <jsk_pcl_ros/BorderEstimatorConfig.h>
55 #include <dynamic_reconfigure/server.h>
56 
57 namespace jsk_pcl_ros
58 {
60  {
61  public:
63  sensor_msgs::PointCloud2, sensor_msgs::CameraInfo> SyncPolicy;
64  typedef BorderEstimatorConfig Config;
65  protected:
66  virtual void onInit();
67  virtual void estimate(const sensor_msgs::PointCloud2::ConstPtr& msg,
68  const sensor_msgs::CameraInfo::ConstPtr& caminfo);
69  virtual void estimate(const sensor_msgs::PointCloud2::ConstPtr& msg);
70  virtual void computeBorder(
71  const pcl::RangeImage& image,
72  const std_msgs::Header& header);
73  virtual void publishCloud(ros::Publisher& pub,
74  const pcl::PointIndices& inlier,
75  const std_msgs::Header& header);
76 
77  virtual void subscribe();
78  virtual void unsubscribe();
79  virtual void configCallback(Config &config, uint32_t level);
88  std::string model_type_;
90  double noise_level_;
91  double min_range_;
96 
97  private:
98 
99  };
100 }
101 
102 #endif
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_point_
BorderEstimatorConfig Config
message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::CameraInfo > SyncPolicy
virtual void estimate(const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::CameraInfo::ConstPtr &caminfo)
virtual void configCallback(Config &config, uint32_t level)
virtual void publishCloud(ros::Publisher &pub, const pcl::PointIndices &inlier, const std_msgs::Header &header)
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
virtual void computeBorder(const pcl::RangeImage &image, const std_msgs::Header &header)
boost::mutex mutex
global mutex.
message_filters::Subscriber< sensor_msgs::CameraInfo > sub_camera_info_
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:46