Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
pcl_ros::FeatureFromNormals Class Referenceabstract

#include <feature.h>

Inheritance diagram for pcl_ros::FeatureFromNormals:
Inheritance graph
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Public Types

typedef sensor_msgs::PointCloud2 PointCloud2
 
typedef pcl::PointCloud< pcl::Normal > PointCloudN
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef PointCloudN::Ptr PointCloudNPtr
 
- Public Types inherited from pcl_ros::Feature
typedef boost::shared_ptr< const std::vector< int > > IndicesConstPtr
 
typedef boost::shared_ptr< std::vector< int > > IndicesPtr
 
typedef pcl::KdTree< pcl::PointXYZ > KdTree
 
typedef pcl::KdTree< pcl::PointXYZ >::Ptr KdTreePtr
 
typedef pcl::PointCloud< pcl::PointXYZ > PointCloudIn
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
- Public Types inherited from pcl_ros::PCLNodelet
typedef boost::shared_ptr< const std::vector< int > > IndicesConstPtr
 
typedef boost::shared_ptr< std::vector< int > > IndicesPtr
 
typedef pcl_msgs::ModelCoefficients ModelCoefficients
 
typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr
 
typedef ModelCoefficients::Ptr ModelCoefficientsPtr
 
typedef pcl::PointCloud< pcl::PointXYZ > PointCloud
 
typedef sensor_msgs::PointCloud2 PointCloud2
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef pcl_msgs::PointIndices PointIndices
 
typedef PointIndices::ConstPtr PointIndicesConstPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 

Public Member Functions

 FeatureFromNormals ()
 
- Public Member Functions inherited from pcl_ros::Feature
 Feature ()
 Empty constructor. More...
 
- Public Member Functions inherited from pcl_ros::PCLNodelet
 PCLNodelet ()
 Empty constructor. More...
 
- Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
 NodeletLazy ()
 
- Public Member Functions inherited from nodelet::Nodelet
void init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL)
 
 Nodelet ()
 
virtual ~Nodelet ()
 

Protected Member Functions

virtual bool childInit (ros::NodeHandle &nh)=0
 Child initialization routine. Internal method. More...
 
virtual void computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)=0
 Compute the feature and publish it. More...
 
virtual void emptyPublish (const PointCloudInConstPtr &cloud)=0
 Publish an empty point cloud of the feature output type. More...
 
- Protected Member Functions inherited from pcl_ros::Feature
void config_callback (FeatureConfig &config, uint32_t level)
 Dynamic reconfigure callback. More...
 
void input_callback (const PointCloudInConstPtr &input)
 Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More...
 
- Protected Member Functions inherited from pcl_ros::PCLNodelet
bool isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
 Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...
 
bool isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
 Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...
 
bool isValid (const PointIndicesConstPtr &indices, const std::string &topic_name="indices")
 Test whether a given PointIndices message is "valid" (i.e., has values). More...
 
bool isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name="model")
 Test whether a given ModelCoefficients message is "valid" (i.e., has values). More...
 
- Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)
 
virtual void connectionCallback (const ros::SingleSubscriberPublisher &pub)
 
virtual void onInitPostProcess ()
 
virtual void warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
 
- Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterfacegetMTCallbackQueue () const
 
ros::NodeHandlegetMTNodeHandle () const
 
ros::NodeHandlegetMTPrivateNodeHandle () const
 
const V_stringgetMyArgv () const
 
const std::string & getName () const
 
ros::NodeHandlegetNodeHandle () const
 
ros::NodeHandlegetPrivateNodeHandle () const
 
const M_stringgetRemappingArgs () const
 
ros::CallbackQueueInterfacegetSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

Protected Attributes

PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl_ros::Feature
int k_
 The number of K nearest neighbors to use for each point. More...
 
message_filters::PassThrough< PointCloudInnf_pc_
 
message_filters::PassThrough< PointIndicesnf_pi_
 Null passthrough filter, used for pushing empty elements in the synchronizer. More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int spatial_locator_type_
 Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index. More...
 
boost::shared_ptr< dynamic_reconfigure::Server< FeatureConfig > > srv_
 Pointer to a dynamic reconfigure service. More...
 
ros::Subscriber sub_input_
 The input PointCloud subscriber. More...
 
message_filters::Subscriber< PointCloudInsub_surface_filter_
 The surface PointCloud subscriber filter. More...
 
KdTreePtr tree_
 The input point cloud dataset. More...
 
bool use_surface_
 Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. More...
 
- Protected Attributes inherited from pcl_ros::PCLNodelet
bool approximate_sync_
 True if we use an approximate time synchronizer versus an exact one (false by default). More...
 
bool latched_indices_
 Set to true if the indices topic is latched. More...
 
int max_queue_size_
 The maximum queue size (default: 3). More...
 
ros::Publisher pub_output_
 The output PointCloud publisher. More...
 
message_filters::Subscriber< PointIndicessub_indices_filter_
 The message filter subscriber for PointIndices. More...
 
message_filters::Subscriber< PointCloudsub_input_filter_
 The message filter subscriber for PointCloud2. More...
 
tf::TransformListener tf_listener_
 TF listener object. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
- Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex connection_mutex_
 
ConnectionStatus connection_status_
 
bool ever_subscribed_
 
bool lazy_
 
boost::shared_ptr< ros::NodeHandlenh_
 
boost::shared_ptr< ros::NodeHandlepnh_
 
std::vector< ros::Publisherpublishers_
 
ros::WallTimer timer_ever_subscribed_
 
bool verbose_connection_
 

Private Member Functions

void computePublish (const PointCloudInConstPtr &, const PointCloudInConstPtr &, const IndicesPtr &)
 Internal method. More...
 
void input_normals_surface_indices_callback (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &cloud_normals, const PointCloudInConstPtr &cloud_surface, const PointIndicesConstPtr &indices)
 Input point cloud callback. Used when use_indices and use_surface are set. More...
 
virtual void onInit ()
 Nodelet initialization routine. More...
 
virtual void subscribe ()
 NodeletLazy connection routine. More...
 
virtual void unsubscribe ()
 

Private Attributes

message_filters::Subscriber< PointCloudNsub_normals_filter_
 The normals PointCloud subscriber filter. More...
 
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > > sync_input_normals_surface_indices_a_
 Synchronized input, normals, surface, and point indices. More...
 
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloudIn, PointCloudN, PointCloudIn, PointIndices > > > sync_input_normals_surface_indices_e_
 

Detailed Description

Definition at line 188 of file feature.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::FeatureFromNormals::PointCloud2

Definition at line 191 of file feature.h.

Definition at line 193 of file feature.h.

typedef PointCloudN::ConstPtr pcl_ros::FeatureFromNormals::PointCloudNConstPtr

Definition at line 195 of file feature.h.

Definition at line 194 of file feature.h.

Constructor & Destructor Documentation

pcl_ros::FeatureFromNormals::FeatureFromNormals ( )
inline

Definition at line 197 of file feature.h.

Member Function Documentation

virtual bool pcl_ros::FeatureFromNormals::childInit ( ros::NodeHandle nh)
protectedpure virtual
virtual void pcl_ros::FeatureFromNormals::computePublish ( const PointCloudInConstPtr cloud,
const PointCloudNConstPtr normals,
const PointCloudInConstPtr surface,
const IndicesPtr indices 
)
protectedpure virtual
void pcl_ros::FeatureFromNormals::computePublish ( const PointCloudInConstPtr ,
const PointCloudInConstPtr ,
const IndicesPtr  
)
inlineprivatevirtual

Internal method.

Implements pcl_ros::Feature.

Definition at line 224 of file feature.h.

virtual void pcl_ros::FeatureFromNormals::emptyPublish ( const PointCloudInConstPtr cloud)
protectedpure virtual
void pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback ( const PointCloudInConstPtr cloud,
const PointCloudNConstPtr cloud_normals,
const PointCloudInConstPtr cloud_surface,
const PointIndicesConstPtr indices 
)
private

Input point cloud callback. Used when use_indices and use_surface are set.

Parameters
cloudthe pointer to the input point cloud
cloud_normalsthe pointer to the input point cloud normals
cloud_surfacethe pointer to the surface point cloud
indicesthe pointer to the input point cloud indices

DEBUG

Definition at line 409 of file features/feature.cpp.

void pcl_ros::FeatureFromNormals::onInit ( )
privatevirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::Feature.

Definition at line 277 of file features/feature.cpp.

void pcl_ros::FeatureFromNormals::subscribe ( )
privatevirtual

NodeletLazy connection routine.

Reimplemented from pcl_ros::Feature.

Definition at line 321 of file features/feature.cpp.

void pcl_ros::FeatureFromNormals::unsubscribe ( )
privatevirtual

Reimplemented from pcl_ros::Feature.

Definition at line 390 of file features/feature.cpp.

Member Data Documentation

PointCloudNConstPtr pcl_ros::FeatureFromNormals::normals_
protected

A pointer to the input dataset that contains the point normals of the XYZ dataset.

Definition at line 197 of file feature.h.

message_filters::Subscriber<PointCloudN> pcl_ros::FeatureFromNormals::sub_normals_filter_
private

The normals PointCloud subscriber filter.

Definition at line 217 of file feature.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > pcl_ros::FeatureFromNormals::sync_input_normals_surface_indices_a_
private

Synchronized input, normals, surface, and point indices.

Definition at line 220 of file feature.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudN, PointCloudIn, PointIndices> > > pcl_ros::FeatureFromNormals::sync_input_normals_surface_indices_e_
private

Definition at line 221 of file feature.h.


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


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:53