ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it. More...

#include <extract_polygonal_prism_data.h>

Inheritance diagram for pcl_ros::ExtractPolygonalPrismData:

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Protected Member Functions
void	config_callback (ExtractPolygonalPrismDataConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	input_callback (const PointCloudConstPtr &input)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More...

void	input_hull_indices_callback (const PointCloudConstPtr &cloud, const PointCloudConstPtr &hull, const PointIndicesConstPtr &indices)
	Input point cloud callback. Used when use_indices is set. More...

void	onInit ()
	Nodelet initialization routine. More...

void	subscribe ()
	LazyNodelet connection routine. More...

void	unsubscribe ()

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 &, const std::string &="indices")
	Test whether a given PointIndices message is "valid" (i.e., has values). More...

bool	isValid (const ModelCoefficientsConstPtr &, const std::string &="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::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
message_filters::PassThrough< PointIndices >	nf_
	Null passthrough filter, used for pushing empty elements in the synchronizer. More...

ros::Publisher	pub_output_
	The output PointIndices publisher. More...

boost::shared_ptr< dynamic_reconfigure::Server< ExtractPolygonalPrismDataConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

message_filters::Subscriber< PointCloud >	sub_hull_filter_
	The message filter subscriber for PointCloud2. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud, PointCloud, PointIndices > > >	sync_input_hull_indices_a_

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud, PointCloud, PointIndices > > >	sync_input_hull_indices_e_
	Synchronized input, planar hull, and indices. 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< 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_

Private Types
typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

Private Attributes
pcl::ExtractPolygonalPrismData< pcl::PointXYZ >	impl_
	The PCL implementation used. More...

Additional Inherited Members
Public Types inherited from pcl_ros::PCLNodelet
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	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 boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef pcl_msgs::PointIndices	PointIndices

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

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 ()

Detailed Description

ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it.

An example of its usage is to extract the data lying within a set of 3D boundaries (e.g., objects supported by a plane).

Author: Radu Bogdan Rusu

Definition at line 64 of file extract_polygonal_prism_data.h.

Member Typedef Documentation

◆ PointCloud

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

private

Definition at line 66 of file extract_polygonal_prism_data.h.

◆ PointCloudConstPtr

typedef boost::shared_ptr<const PointCloud> pcl_ros::ExtractPolygonalPrismData::PointCloudConstPtr

private

Definition at line 68 of file extract_polygonal_prism_data.h.

◆ PointCloudPtr

typedef boost::shared_ptr<PointCloud> pcl_ros::ExtractPolygonalPrismData::PointCloudPtr

private

Definition at line 67 of file extract_polygonal_prism_data.h.

Member Function Documentation

◆ config_callback()

void pcl_ros::ExtractPolygonalPrismData::config_callback	(	ExtractPolygonalPrismDataConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 115 of file extract_polygonal_prism_data.cpp.

◆ input_callback()

void pcl_ros::ExtractPolygonalPrismData::input_callback ( const PointCloudConstPtr & input )

inlineprotected

Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp.

Definition at line 93 of file extract_polygonal_prism_data.h.

◆ input_hull_indices_callback()

void pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback	(	const PointCloudConstPtr &	cloud,
		const PointCloudConstPtr &	hull,
		const PointIndicesConstPtr &	indices
	)