Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods. More...

#include <feature.h>

Inheritance diagram for pcl_ros::Feature:

[legend]

Public Types
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl::KdTree< pcl::PointXYZ >	KdTree

typedef pcl::KdTree< pcl::PointXYZ >::Ptr	KdTreePtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudIn

typedef boost::shared_ptr< const PointCloudIn >	PointCloudInConstPtr

typedef boost::shared_ptr< PointCloudIn >	PointCloudInPtr

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
	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 PointCloudInConstPtr &surface, const IndicesPtr &indices)=0
	Compute the feature and publish it. Internal method. More...

void	config_callback (FeatureConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

virtual void	emptyPublish (const PointCloudInConstPtr &cloud)=0
	Publish an empty point cloud of the feature output type. 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 &, 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
int	k_
	The number of K nearest neighbors to use for each point. More...

message_filters::PassThrough< PointCloudIn >	nf_pc_

message_filters::PassThrough< PointIndices >	nf_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< PointCloudIn >	sub_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< 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 Member Functions
void	input_surface_indices_callback (const PointCloudInConstPtr &cloud, 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
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloudIn, PointCloudIn, PointIndices > > >	sync_input_surface_indices_a_
	Synchronized input, surface, and point indices. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloudIn, PointCloudIn, PointIndices > > >	sync_input_surface_indices_e_

Detailed Description

Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods.

Author: Radu Bogdan Rusu

Definition at line 65 of file feature.h.

Member Typedef Documentation

◆ IndicesConstPtr

typedef pcl::IndicesConstPtr pcl_ros::Feature::IndicesConstPtr

Definition at line 76 of file feature.h.

◆ IndicesPtr

typedef pcl::IndicesPtr pcl_ros::Feature::IndicesPtr

Definition at line 75 of file feature.h.

◆ KdTree

typedef pcl::KdTree<pcl::PointXYZ> pcl_ros::Feature::KdTree

Definition at line 68 of file feature.h.

◆ KdTreePtr

typedef pcl::KdTree<pcl::PointXYZ>::Ptr pcl_ros::Feature::KdTreePtr

Definition at line 69 of file feature.h.

◆ PointCloudIn

typedef pcl::PointCloud<pcl::PointXYZ> pcl_ros::Feature::PointCloudIn

Definition at line 71 of file feature.h.

◆ PointCloudInConstPtr

typedef boost::shared_ptr<const PointCloudIn> pcl_ros::Feature::PointCloudInConstPtr

Definition at line 73 of file feature.h.

◆ PointCloudInPtr

typedef boost::shared_ptr<PointCloudIn> pcl_ros::Feature::PointCloudInPtr

Definition at line 72 of file feature.h.

Constructor & Destructor Documentation

◆ Feature()

pcl_ros::Feature::Feature ( )

inline

Empty constructor.

Definition at line 79 of file feature.h.

Member Function Documentation

◆ childInit()

virtual bool pcl_ros::Feature::childInit ( ros::NodeHandle & nh )

protectedpure virtual

Child initialization routine. Internal method.

Implemented in pcl_ros::FeatureFromNormals, pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::NormalEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::NormalEstimationTBB, pcl_ros::VFHEstimation, pcl_ros::MomentInvariantsEstimation, pcl_ros::NormalEstimationOMP, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

◆ computePublish()

virtual void pcl_ros::Feature::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudInConstPtr &	surface,
		const IndicesPtr &	indices
	)

protectedpure virtual

Compute the feature and publish it. Internal method.

Implemented in pcl_ros::FeatureFromNormals, pcl_ros::NormalEstimation, pcl_ros::NormalEstimationTBB, pcl_ros::MomentInvariantsEstimation, and pcl_ros::NormalEstimationOMP.

◆ config_callback()

void pcl_ros::Feature::config_callback	(	FeatureConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 178 of file feature.cpp.

◆ emptyPublish()

virtual void pcl_ros::Feature::emptyPublish ( const PointCloudInConstPtr & cloud )

protectedpure virtual

Publish an empty point cloud of the feature output type.

Implemented in pcl_ros::FeatureFromNormals, pcl_ros::FPFHEstimation, pcl_ros::PFHEstimation, pcl_ros::FPFHEstimationOMP, pcl_ros::BoundaryEstimation, pcl_ros::NormalEstimation, pcl_ros::PrincipalCurvaturesEstimation, pcl_ros::NormalEstimationTBB, pcl_ros::VFHEstimation, pcl_ros::MomentInvariantsEstimation, pcl_ros::NormalEstimationOMP, pcl_ros::SHOTEstimation, and pcl_ros::SHOTEstimationOMP.

◆ input_callback()

void pcl_ros::Feature::input_callback ( const PointCloudInConstPtr & 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 149 of file feature.h.

◆ input_surface_indices_callback()

void pcl_ros::Feature::input_surface_indices_callback	(	const PointCloudInConstPtr &	cloud,
		const PointCloudInConstPtr &	cloud_surface,
		const PointIndicesConstPtr &	indices
	)

private

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

Parameters

cloud	the pointer to the input point cloud
cloud_surface	the pointer to the surface point cloud
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 194 of file feature.cpp.

◆ onInit()

void pcl_ros::Feature::onInit ( )

privatevirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::FeatureFromNormals.

Definition at line 54 of file feature.cpp.

◆ subscribe()

void pcl_ros::Feature::subscribe ( )

privatevirtual

NodeletLazy connection routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::FeatureFromNormals.

Definition at line 99 of file feature.cpp.

◆ unsubscribe()

void pcl_ros::Feature::unsubscribe ( )

privatevirtual

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::FeatureFromNormals.

Definition at line 158 of file feature.cpp.

Member Data Documentation

◆ k_

int pcl_ros::Feature::k_

protected

The number of K nearest neighbors to use for each point.

Definition at line 97 of file feature.h.

◆ nf_pc_

message_filters::PassThrough<PointCloudIn> pcl_ros::Feature::nf_pc_

protected

Definition at line 142 of file feature.h.

◆ nf_pi_

message_filters::PassThrough<PointIndices> pcl_ros::Feature::nf_pi_

protected

Null passthrough filter, used for pushing empty elements in the synchronizer.

Definition at line 141 of file feature.h.

◆ search_radius_

double pcl_ros::Feature::search_radius_

protected

The nearest neighbors search radius for each point.

Definition at line 100 of file feature.h.

◆ spatial_locator_type_

int pcl_ros::Feature::spatial_locator_type_

protected

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.

Definition at line 117 of file feature.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<FeatureConfig> > pcl_ros::Feature::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 120 of file feature.h.

◆ sub_input_

ros::Subscriber pcl_ros::Feature::sub_input_

protected

The input PointCloud subscriber.

Definition at line 107 of file feature.h.

◆ sub_surface_filter_

message_filters::Subscriber<PointCloudIn> pcl_ros::Feature::sub_surface_filter_

protected

The surface PointCloud subscriber filter.

Definition at line 104 of file feature.h.

◆ sync_input_surface_indices_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointCloudIn, PointIndices> > > pcl_ros::Feature::sync_input_surface_indices_a_

private

Synchronized input, surface, and point indices.

Definition at line 161 of file feature.h.

◆ sync_input_surface_indices_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices> > > pcl_ros::Feature::sync_input_surface_indices_e_

private

Definition at line 162 of file feature.h.

◆ tree_

KdTreePtr pcl_ros::Feature::tree_

protected

The input point cloud dataset.

A pointer to the vector of point indices to use. An input point cloud describing the surface that is to be used for nearest neighbors estimation. A pointer to the spatial search object.

Definition at line 81 of file feature.h.

◆ use_surface_

bool pcl_ros::Feature::use_surface_

protected

Set to true if the nodelet needs to listen for incoming point clouds representing the search surface.

Definition at line 110 of file feature.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ IndicesConstPtr

◆ IndicesPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

Constructor & Destructor Documentation

◆ Feature()

Member Function Documentation

◆ childInit()

◆ computePublish()

◆ config_callback()

◆ emptyPublish()

◆ input_callback()

◆ input_surface_indices_callback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ k_

◆ nf_pc_

◆ nf_pi_

◆ search_radius_

◆ spatial_locator_type_

◆ srv_

◆ sub_input_

◆ sub_surface_filter_

◆ sync_input_surface_indices_a_

◆ sync_input_surface_indices_e_

◆ tree_

◆ use_surface_