ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud. More...

#include <project_inliers.h>

Inheritance diagram for pcl_ros::ProjectInliers:

[legend]

Public Member Functions
	ProjectInliers ()

Public Member Functions inherited from pcl_ros::Filter
	Filter ()

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
void	filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)
	Call the actual filter. More...

Protected Member Functions inherited from pcl_ros::Filter
virtual bool	child_init (ros::NodeHandle &, bool &has_service)
	Child initialization routine. More...

void	computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices)
	Call the child filter () method, optionally transform the result, and publish it. 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

Private Member Functions
void	input_indices_model_callback (const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices, const ModelCoefficientsConstPtr &model)
	PointCloud2 + Indices + Model data callback. More...

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

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

void	unsubscribe ()
	Lazy transport unsubscribe routine. More...

Private Attributes
pcl::ProjectInliers< pcl::PCLPointCloud2 >	impl_
	The PCL filter implementation used. More...

ModelCoefficientsConstPtr	model_
	A pointer to the vector of model coefficients. More...

message_filters::Subscriber< ModelCoefficients >	sub_model_
	The message filter subscriber for model coefficients. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud2, PointIndices, ModelCoefficients > > >	sync_input_indices_model_a_

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud2, PointIndices, ModelCoefficients > > >	sync_input_indices_model_e_
	Synchronized input, indices, and model coefficients. More...

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

typedef pcl::IndicesPtr	IndicesPtr

typedef sensor_msgs::PointCloud2	PointCloud2

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

Protected Attributes inherited from pcl_ros::Filter
std::string	filter_field_name_
	The desired user filter field name. More...

double	filter_limit_max_
	The maximum allowed filter value a point will be considered from. More...

double	filter_limit_min_
	The minimum allowed filter value a point will be considered from. More...

bool	filter_limit_negative_
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false. More...

boost::mutex	mutex_
	Internal mutex. More...

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

message_filters::Subscriber< PointCloud2 >	sub_input_filter_

std::string	tf_input_frame_
	The input TF frame the data should be transformed into, if input.header.frame_id is different. More...

std::string	tf_input_orig_frame_
	The original data input TF frame. More...

std::string	tf_output_frame_
	The output TF frame the data should be transformed into, if input.header.frame_id is different. 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_

Detailed Description

ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud.

Note: setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.

Author: Radu Bogdan Rusu

Definition at line 56 of file project_inliers.h.

Constructor & Destructor Documentation

◆ ProjectInliers()

pcl_ros::ProjectInliers::ProjectInliers ( )

inline

Definition at line 59 of file project_inliers.h.

Member Function Documentation

◆ filter()

void pcl_ros::ProjectInliers::filter	(	const PointCloud2::ConstPtr &	input,
		const IndicesPtr &	indices,
		PointCloud2 &	output
	)

inlineprotectedvirtual

Call the actual filter.

Parameters

input	the input point cloud dataset
indices	the input set of indices to use from input
output	the resultant filtered dataset

Implements pcl_ros::Filter.

Definition at line 68 of file project_inliers.h.

◆ input_indices_model_callback()

void pcl_ros::ProjectInliers::input_indices_model_callback	(	const PointCloud2::ConstPtr &	cloud,
		const PointIndicesConstPtr &	indices,
		const ModelCoefficientsConstPtr &	model
	)

private

PointCloud2 + Indices + Model data callback.

Definition at line 127 of file project_inliers.cpp.

◆ onInit()

void pcl_ros::ProjectInliers::onInit ( )

privatevirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::Filter.

Definition at line 43 of file project_inliers.cpp.

◆ subscribe()

void pcl_ros::ProjectInliers::subscribe ( )

privatevirtual

NodeletLazy connection routine.

Reimplemented from pcl_ros::Filter.

Definition at line 87 of file project_inliers.cpp.

◆ unsubscribe()

void pcl_ros::ProjectInliers::unsubscribe ( )

privatevirtual

Lazy transport unsubscribe routine.

Reimplemented from pcl_ros::Filter.

Definition at line 114 of file project_inliers.cpp.

Member Data Documentation

◆ impl_

pcl::ProjectInliers<pcl::PCLPointCloud2> pcl_ros::ProjectInliers::impl_

private

The PCL filter implementation used.

Definition at line 94 of file project_inliers.h.

◆ model_

ModelCoefficientsConstPtr pcl_ros::ProjectInliers::model_

private

A pointer to the vector of model coefficients.

Definition at line 85 of file project_inliers.h.

◆ sub_model_

message_filters::Subscriber<ModelCoefficients> pcl_ros::ProjectInliers::sub_model_

private

The message filter subscriber for model coefficients.

Definition at line 88 of file project_inliers.h.

◆ sync_input_indices_model_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > pcl_ros::ProjectInliers::sync_input_indices_model_a_

private

Definition at line 92 of file project_inliers.h.

◆ sync_input_indices_model_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > pcl_ros::ProjectInliers::sync_input_indices_model_e_

private

Synchronized input, indices, and model coefficients.

Definition at line 91 of file project_inliers.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ProjectInliers()

Member Function Documentation

◆ filter()

◆ input_indices_model_callback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ impl_

◆ model_

◆ sub_model_

◆ sync_input_indices_model_a_

◆ sync_input_indices_model_e_