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. More...

#include <moving_least_squares.h>

Inheritance diagram for pcl_ros::MovingLeastSquares:

[legend]

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

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

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

virtual 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
double	gaussian_parameter_
	How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit). More...

int	polynomial_order_
	The order of the polynomial to be fit. 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< MLSConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

message_filters::Subscriber< PointCloudIn >	sub_surface_filter_
	The surface PointCloud subscriber filter. More...

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

bool	use_polynomial_fit_
	The number of K nearest neighbors to use for each point. 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::KdTree< PointIn >	KdTree

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

typedef pcl::PointCloud< NormalOut >	NormalCloudOut

typedef pcl::PointNormal	NormalOut

typedef pcl::PointCloud< PointIn >	PointCloudIn

typedef boost::shared_ptr< const PointCloudIn >	PointCloudInConstPtr

typedef boost::shared_ptr< PointCloudIn >	PointCloudInPtr

typedef pcl::PointXYZ	PointIn

Private Member Functions
void	input_indices_callback (const PointCloudInConstPtr &cloud, const PointIndicesConstPtr &indices)
	Input point cloud callback. More...

Private Attributes
pcl::MovingLeastSquares< PointIn, NormalOut >	impl_
	The PCL implementation used. More...

ros::Publisher	pub_normals_
	The output PointCloud (containing the normals) publisher. More...

ros::Subscriber	sub_input_
	The input PointCloud subscriber. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloudIn, PointIndices > > >	sync_input_indices_a_

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloudIn, PointIndices > > >	sync_input_indices_e_
	Synchronized input, and indices. 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

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.

Author: Radu Bogdan Rusu, Zoltan-Csaba Marton

Definition at line 60 of file moving_least_squares.h.

Member Typedef Documentation

◆ KdTree

typedef pcl::KdTree<PointIn> pcl_ros::MovingLeastSquares::KdTree

private

Definition at line 70 of file moving_least_squares.h.

◆ KdTreePtr

typedef pcl::KdTree<PointIn>::Ptr pcl_ros::MovingLeastSquares::KdTreePtr

private

Definition at line 71 of file moving_least_squares.h.

◆ NormalCloudOut

typedef pcl::PointCloud<NormalOut> pcl_ros::MovingLeastSquares::NormalCloudOut

private

Definition at line 68 of file moving_least_squares.h.

◆ NormalOut

typedef pcl::PointNormal pcl_ros::MovingLeastSquares::NormalOut

private

Definition at line 63 of file moving_least_squares.h.

◆ PointCloudIn

typedef pcl::PointCloud<PointIn> pcl_ros::MovingLeastSquares::PointCloudIn

private

Definition at line 65 of file moving_least_squares.h.

◆ PointCloudInConstPtr

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

private

Definition at line 67 of file moving_least_squares.h.

◆ PointCloudInPtr

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

private

Definition at line 66 of file moving_least_squares.h.

◆ PointIn

typedef pcl::PointXYZ pcl_ros::MovingLeastSquares::PointIn

private

Definition at line 62 of file moving_least_squares.h.

Member Function Documentation

◆ config_callback()

void pcl_ros::MovingLeastSquares::config_callback	(	MLSConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 192 of file moving_least_squares.cpp.

◆ input_indices_callback()

void pcl_ros::MovingLeastSquares::input_indices_callback	(	const PointCloudInConstPtr &	cloud,
		const PointIndicesConstPtr &	indices
	)

private

Input point cloud callback.

Parameters

cloud	the pointer to the input point cloud
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 126 of file moving_least_squares.cpp.

◆ onInit()

void pcl_ros::MovingLeastSquares::onInit ( )

protectedvirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 42 of file moving_least_squares.cpp.

◆ subscribe()

void pcl_ros::MovingLeastSquares::subscribe ( )

protectedvirtual

LazyNodelet connection routine.

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 81 of file moving_least_squares.cpp.

◆ unsubscribe()

void pcl_ros::MovingLeastSquares::unsubscribe ( )

protectedvirtual

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 113 of file moving_least_squares.cpp.

Member Data Documentation

◆ gaussian_parameter_

double pcl_ros::MovingLeastSquares::gaussian_parameter_

protected

How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit).

Definition at line 93 of file moving_least_squares.h.

◆ impl_

pcl::MovingLeastSquares<PointIn, NormalOut> pcl_ros::MovingLeastSquares::impl_

private

The PCL implementation used.

Definition at line 133 of file moving_least_squares.h.

◆ polynomial_order_

int pcl_ros::MovingLeastSquares::polynomial_order_

protected

The order of the polynomial to be fit.

Definition at line 90 of file moving_least_squares.h.

◆ pub_normals_

ros::Publisher pcl_ros::MovingLeastSquares::pub_normals_

private

The output PointCloud (containing the normals) publisher.

Definition at line 139 of file moving_least_squares.h.

◆ search_radius_

double pcl_ros::MovingLeastSquares::search_radius_

protected

The nearest neighbors search radius for each point.

Definition at line 81 of file moving_least_squares.h.

◆ spatial_locator_type_

int pcl_ros::MovingLeastSquares::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 104 of file moving_least_squares.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<MLSConfig> > pcl_ros::MovingLeastSquares::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 107 of file moving_least_squares.h.

◆ sub_input_

ros::Subscriber pcl_ros::MovingLeastSquares::sub_input_

private

The input PointCloud subscriber.

Definition at line 136 of file moving_least_squares.h.

◆ sub_surface_filter_

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

protected

The surface PointCloud subscriber filter.

Definition at line 97 of file moving_least_squares.h.

◆ surface_

PointCloudInConstPtr pcl_ros::MovingLeastSquares::surface_

protected

An input point cloud describing the surface that is to be used for nearest neighbors estimation.

Definition at line 75 of file moving_least_squares.h.

◆ sync_input_indices_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn, PointIndices> > > pcl_ros::MovingLeastSquares::sync_input_indices_a_

private

Definition at line 143 of file moving_least_squares.h.

◆ sync_input_indices_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn, PointIndices> > > pcl_ros::MovingLeastSquares::sync_input_indices_e_

private

Synchronized input, and indices.

Definition at line 142 of file moving_least_squares.h.

◆ tree_

KdTreePtr pcl_ros::MovingLeastSquares::tree_

protected

A pointer to the spatial search object.

Definition at line 78 of file moving_least_squares.h.

◆ use_polynomial_fit_

bool pcl_ros::MovingLeastSquares::use_polynomial_fit_

protected

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

Whether to use a polynomial fit.

Definition at line 87 of file moving_least_squares.h.

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

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ KdTree

◆ KdTreePtr

◆ NormalCloudOut

◆ NormalOut

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ PointIn

Member Function Documentation

◆ config_callback()

◆ input_indices_callback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ gaussian_parameter_

◆ impl_

◆ polynomial_order_

◆ pub_normals_

◆ search_radius_

◆ spatial_locator_type_

◆ srv_

◆ sub_input_

◆ sub_surface_filter_

◆ surface_

◆ sync_input_indices_a_

◆ sync_input_indices_e_

◆ tree_

◆ use_polynomial_fit_