PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. More...

#include <pcl_nodelet.h>

Inheritance diagram for pcl_ros::PCLNodelet:

[legend]

Public Types
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
	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
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...

virtual void	onInit ()
	Nodelet initialization routine. Reads in global parameters used by all nodelets. More...

virtual void	subscribe ()
	Lazy transport subscribe/unsubscribe routine. It is optional for backward compatibility. More...

virtual void	unsubscribe ()

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::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
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< PointIndices >	sub_indices_filter_
	The message filter subscriber for PointIndices. More...

message_filters::Subscriber< PointCloud >	sub_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::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Detailed Description

PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class.

Definition at line 72 of file pcl_nodelet.h.

Member Typedef Documentation

typedef boost::shared_ptr<const std::vector<int> > pcl_ros::PCLNodelet::IndicesConstPtr

Definition at line 90 of file pcl_nodelet.h.

typedef boost::shared_ptr<std::vector<int> > pcl_ros::PCLNodelet::IndicesPtr

Definition at line 89 of file pcl_nodelet.h.

typedef pcl_msgs::ModelCoefficients pcl_ros::PCLNodelet::ModelCoefficients

Definition at line 85 of file pcl_nodelet.h.

typedef ModelCoefficients::ConstPtr pcl_ros::PCLNodelet::ModelCoefficientsConstPtr

Definition at line 87 of file pcl_nodelet.h.

typedef ModelCoefficients::Ptr pcl_ros::PCLNodelet::ModelCoefficientsPtr

Definition at line 86 of file pcl_nodelet.h.

typedef pcl::PointCloud<pcl::PointXYZ> pcl_ros::PCLNodelet::PointCloud

Definition at line 77 of file pcl_nodelet.h.

typedef sensor_msgs::PointCloud2 pcl_ros::PCLNodelet::PointCloud2

Definition at line 75 of file pcl_nodelet.h.

typedef PointCloud::ConstPtr pcl_ros::PCLNodelet::PointCloudConstPtr

Definition at line 79 of file pcl_nodelet.h.

typedef PointCloud::Ptr pcl_ros::PCLNodelet::PointCloudPtr

Definition at line 78 of file pcl_nodelet.h.

typedef pcl_msgs::PointIndices pcl_ros::PCLNodelet::PointIndices

Definition at line 81 of file pcl_nodelet.h.

typedef PointIndices::ConstPtr pcl_ros::PCLNodelet::PointIndicesConstPtr

Definition at line 83 of file pcl_nodelet.h.

typedef PointIndices::Ptr pcl_ros::PCLNodelet::PointIndicesPtr

Definition at line 82 of file pcl_nodelet.h.

Constructor & Destructor Documentation

pcl_ros::PCLNodelet::PCLNodelet ( )

inline

Empty constructor.

Definition at line 93 of file pcl_nodelet.h.

Member Function Documentation

bool pcl_ros::PCLNodelet::isValid	(	const PointCloud2::ConstPtr &	cloud,
		const std::string &	topic_name = `"input"`
	)

inlineprotected

Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).

Parameters

cloud	the point cloud to test
topic_name	an optional topic name (only used for printing, defaults to "input")

Definition at line 140 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid	(	const PointCloudConstPtr &	cloud,
		const std::string &	topic_name = `"input"`
	)

inlineprotected

Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).

Parameters

cloud	the point cloud to test
topic_name	an optional topic name (only used for printing, defaults to "input")

Definition at line 156 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid	(	const PointIndicesConstPtr &	indices,
		const std::string &	topic_name = `"indices"`
	)

inlineprotected

Test whether a given PointIndices message is "valid" (i.e., has values).

Parameters

indices	the point indices message to test
topic_name	an optional topic name (only used for printing, defaults to "indices")

Definition at line 172 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid	(	const ModelCoefficientsConstPtr &	model,
		const std::string &	topic_name = `"model"`
	)

inlineprotected

Test whether a given ModelCoefficients message is "valid" (i.e., has values).

Parameters

model	the model coefficients to test
topic_name	an optional topic name (only used for printing, defaults to "model")

Definition at line 187 of file pcl_nodelet.h.

virtual void pcl_ros::PCLNodelet::onInit ( )

inlineprotectedvirtual

Nodelet initialization routine. Reads in global parameters used by all nodelets.

Reimplemented from nodelet_topic_tools::NodeletLazy.

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::FeatureFromNormals, pcl_ros::Feature, pcl_ros::Filter, pcl_ros::SACSegmentation, pcl_ros::MovingLeastSquares, pcl_ros::PCDWriter, pcl_ros::ExtractPolygonalPrismData, pcl_ros::ProjectInliers, pcl_ros::SegmentDifferences, pcl_ros::EuclideanClusterExtraction, pcl_ros::ConvexHull2D, and pcl_ros::PCDReader.

Definition at line 203 of file pcl_nodelet.h.

virtual void pcl_ros::PCLNodelet::subscribe ( )

inlineprotectedvirtual

Lazy transport subscribe/unsubscribe routine. It is optional for backward compatibility.

Implements nodelet_topic_tools::NodeletLazy.

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::FeatureFromNormals, pcl_ros::Feature, pcl_ros::SACSegmentation, pcl_ros::Filter, pcl_ros::MovingLeastSquares, pcl_ros::ExtractPolygonalPrismData, pcl_ros::ProjectInliers, pcl_ros::SegmentDifferences, pcl_ros::EuclideanClusterExtraction, and pcl_ros::ConvexHull2D.

Definition at line 198 of file pcl_nodelet.h.

virtual void pcl_ros::PCLNodelet::unsubscribe ( )

inlineprotectedvirtual

Implements nodelet_topic_tools::NodeletLazy.

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::FeatureFromNormals, pcl_ros::Feature, pcl_ros::Filter, pcl_ros::SACSegmentation, pcl_ros::MovingLeastSquares, pcl_ros::ExtractPolygonalPrismData, pcl_ros::ProjectInliers, pcl_ros::SegmentDifferences, pcl_ros::EuclideanClusterExtraction, and pcl_ros::ConvexHull2D.

Definition at line 199 of file pcl_nodelet.h.

Member Data Documentation

bool pcl_ros::PCLNodelet::approximate_sync_

protected

True if we use an approximate time synchronizer versus an exact one (false by default).

Definition at line 130 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::latched_indices_

protected

Set to true if the indices topic is latched.

If use_indices_ is true, the ~input and ~indices topics generally must be synchronised in time. By setting this flag to true, the most recent value from ~indices can be used instead of requiring a synchronised message.

Definition at line 115 of file pcl_nodelet.h.

int pcl_ros::PCLNodelet::max_queue_size_

protected

The maximum queue size (default: 3).

Definition at line 127 of file pcl_nodelet.h.

ros::Publisher pcl_ros::PCLNodelet::pub_output_

protected

The output PointCloud publisher.

Definition at line 124 of file pcl_nodelet.h.

message_filters::Subscriber<PointIndices> pcl_ros::PCLNodelet::sub_indices_filter_

protected

The message filter subscriber for PointIndices.

Definition at line 121 of file pcl_nodelet.h.

message_filters::Subscriber<PointCloud> pcl_ros::PCLNodelet::sub_input_filter_

protected

The message filter subscriber for PointCloud2.

Definition at line 118 of file pcl_nodelet.h.

tf::TransformListener pcl_ros::PCLNodelet::tf_listener_

protected

TF listener object.

Definition at line 133 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::use_indices_

protected

Set to true if point indices are used.

When receiving a point cloud, if use_indices_ is false, the entire point cloud is processed for the given operation. If use_indices_ is true, then the ~indices topic is read to get the vector of point indices specifying the subset of the point cloud that will be used for the operation. In the case where use_indices_ is true, the ~input and ~indices topics must be synchronised in time, either exact or within a specified jitter. See also latched_indices_ and approximate_sync.

Definition at line 94 of file pcl_nodelet.h.

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

pcl_nodelet.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation