moving_least_squares.h
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37 
38 #ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
39 #define PCL_ROS_MOVING_LEAST_SQUARES_H_
40 
41 #include "pcl_ros/pcl_nodelet.h"
42 
43 // PCL includes
44 #include <pcl/surface/mls.h>
45 
46 // Dynamic reconfigure
47 #include <dynamic_reconfigure/server.h>
48 #include "pcl_ros/MLSConfig.h"
49 
50 namespace pcl_ros
51 {
53 
60  {
61  typedef pcl::PointXYZ PointIn;
62  typedef pcl::PointNormal NormalOut;
63 
64  typedef pcl::PointCloud<PointIn> PointCloudIn;
65  typedef PointCloudIn::Ptr PointCloudInPtr;
66  typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
67  typedef pcl::PointCloud<NormalOut> NormalCloudOut;
68 
69  typedef pcl::KdTree<PointIn> KdTree;
70  typedef pcl::KdTree<PointIn>::Ptr KdTreePtr;
71 
72  protected:
74  PointCloudInConstPtr surface_;
75 
77  KdTreePtr tree_;
78 
81 
83  //int k_;
84 
87 
90 
93 
94  // ROS nodelet attributes
97 
104 
107 
112  void config_callback (MLSConfig &config, uint32_t level);
113 
115  virtual void onInit ();
116 
118  virtual void subscribe ();
119  virtual void unsubscribe ();
120 
121  private:
126  void input_indices_callback (const PointCloudInConstPtr &cloud,
127  const PointIndicesConstPtr &indices);
128 
129 
130  private:
132  pcl::MovingLeastSquares<PointIn, NormalOut> impl_;
133 
136 
139 
143 
144  public:
145  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
146  };
147 }
148 
149 #endif //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
ros::Subscriber sub_input_
The input PointCloud subscriber.
pcl::PointCloud< PointIn > PointCloudIn
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloudIn, PointIndices > > > sync_input_indices_e_
Synchronized input, and indices.
int polynomial_order_
The order of the polynomial to be fit.
KdTreePtr tree_
A pointer to the spatial search object.
double gaussian_parameter_
How &#39;flat&#39; should the neighbor weighting gaussian be (the smaller, the more local the fit)...
void config_callback(MLSConfig &config, uint32_t level)
Dynamic reconfigure callback.
pcl::MovingLeastSquares< PointIn, NormalOut > impl_
The PCL implementation used.
void input_indices_callback(const PointCloudInConstPtr &cloud, const PointIndicesConstPtr &indices)
Input point cloud callback.
pcl::KdTree< PointIn > KdTree
int spatial_locator_type_
Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Near...
message_filters::Subscriber< PointCloudIn > sub_surface_filter_
The surface PointCloud subscriber filter.
virtual void subscribe()
LazyNodelet connection routine.
pcl::KdTree< PointIn >::Ptr KdTreePtr
double search_radius_
The nearest neighbors search radius for each point.
PointCloudIn::ConstPtr PointCloudInConstPtr
PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class...
Definition: pcl_nodelet.h:72
bool use_polynomial_fit_
The number of K nearest neighbors to use for each point.
virtual void onInit()
Nodelet initialization routine.
MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation. The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters. Normals are estimated at each point as well and published on a separate topic.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation...
boost::shared_ptr< dynamic_reconfigure::Server< MLSConfig > > srv_
Pointer to a dynamic reconfigure service.
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloudIn, PointIndices > > > sync_input_indices_a_
ros::Publisher pub_normals_
The output PointCloud (containing the normals) publisher.
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_nodelet.h:83
pcl::PointCloud< NormalOut > NormalCloudOut


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18