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 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
	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 &, 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...

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 73 of file pcl_nodelet.h.

Member Typedef Documentation

◆ IndicesConstPtr

typedef pcl::IndicesConstPtr pcl_ros::PCLNodelet::IndicesConstPtr

Definition at line 91 of file pcl_nodelet.h.

◆ IndicesPtr

typedef pcl::IndicesPtr pcl_ros::PCLNodelet::IndicesPtr

Definition at line 90 of file pcl_nodelet.h.

◆ ModelCoefficients

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

Definition at line 86 of file pcl_nodelet.h.

◆ ModelCoefficientsConstPtr

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

Definition at line 88 of file pcl_nodelet.h.

◆ ModelCoefficientsPtr

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

Definition at line 87 of file pcl_nodelet.h.

◆ PointCloud

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

Definition at line 78 of file pcl_nodelet.h.

◆ PointCloud2

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

Definition at line 76 of file pcl_nodelet.h.

◆ PointCloudConstPtr

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

Definition at line 80 of file pcl_nodelet.h.

◆ PointCloudPtr

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

Definition at line 79 of file pcl_nodelet.h.

◆ PointIndices

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

Definition at line 82 of file pcl_nodelet.h.

◆ PointIndicesConstPtr

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

Definition at line 84 of file pcl_nodelet.h.

◆ PointIndicesPtr

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

Definition at line 83 of file pcl_nodelet.h.

Constructor & Destructor Documentation

◆ PCLNodelet()

pcl_ros::PCLNodelet::PCLNodelet ( )

inline

Empty constructor.

Definition at line 94 of file pcl_nodelet.h.

Member Function Documentation

◆ isValid() [1/4]

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 141 of file pcl_nodelet.h.

◆ isValid() [2/4]

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 157 of file pcl_nodelet.h.

◆ isValid() [3/4]

bool pcl_ros::PCLNodelet::isValid	(	const PointIndicesConstPtr &	,
		const std::string &	= `"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 173 of file pcl_nodelet.h.

◆ isValid() [4/4]

bool pcl_ros::PCLNodelet::isValid	(	const ModelCoefficientsConstPtr &	,
		const std::string &	= `"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 188 of file pcl_nodelet.h.

◆ onInit()

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 204 of file pcl_nodelet.h.

◆ subscribe()

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::MovingLeastSquares, pcl_ros::Filter, 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.

◆ unsubscribe()

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 200 of file pcl_nodelet.h.

Member Data Documentation

◆ approximate_sync_

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 131 of file pcl_nodelet.h.

◆ latched_indices_

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 116 of file pcl_nodelet.h.

◆ max_queue_size_

int pcl_ros::PCLNodelet::max_queue_size_

protected

The maximum queue size (default: 3).

Definition at line 128 of file pcl_nodelet.h.

◆ pub_output_

ros::Publisher pcl_ros::PCLNodelet::pub_output_

protected

The output PointCloud publisher.

Definition at line 125 of file pcl_nodelet.h.

◆ sub_indices_filter_

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

protected

The message filter subscriber for PointIndices.

Definition at line 122 of file pcl_nodelet.h.

◆ sub_input_filter_

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

protected

The message filter subscriber for PointCloud2.

Definition at line 119 of file pcl_nodelet.h.

◆ tf_listener_

tf::TransformListener pcl_ros::PCLNodelet::tf_listener_

protected

TF listener object.

Definition at line 134 of file pcl_nodelet.h.

◆ use_indices_

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 95 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

◆ IndicesConstPtr

◆ IndicesPtr

◆ ModelCoefficients

◆ ModelCoefficientsConstPtr

◆ ModelCoefficientsPtr

◆ PointCloud

◆ PointCloud2

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ PointIndices

◆ PointIndicesConstPtr

◆ PointIndicesPtr

Constructor & Destructor Documentation

◆ PCLNodelet()

Member Function Documentation

◆ isValid() [1/4]

◆ isValid() [2/4]

◆ isValid() [3/4]

◆ isValid() [4/4]

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ approximate_sync_

◆ latched_indices_

◆ max_queue_size_

◆ pub_output_

◆ sub_indices_filter_

◆ sub_input_filter_

◆ tf_listener_

◆ use_indices_