SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation. More...

#include <sac_segmentation.h>

Inheritance diagram for pcl_ros::SACSegmentation:

[legend]

Public Member Functions
std::string	getInputTFframe ()
	Get the TF frame the input PointCloud should be transformed into before processing. More...

std::string	getOutputTFframe ()
	Get the TF frame the PointCloud should be transformed into after processing. More...

	SACSegmentation ()
	Constructor. More...

void	setInputTFframe (std::string tf_frame)
	Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different. More...

void	setOutputTFframe (std::string tf_frame)
	Set the output TF frame the data should be transformed into after processing. 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
void	config_callback (SACSegmentationConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	indices_callback (const PointIndicesConstPtr &indices)
	Indices callback. Used when latched_indices_ is set. More...

void	input_callback (const PointCloudConstPtr &input)
	Input callback. Used when latched_indices_ is set. More...

void	input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
	Input point cloud callback. Used when use_indices is set. 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
PointIndices	indices_
	Pointer to a set of indices stored internally. (used when latched_indices_ is set). More...

int	min_inliers_

message_filters::PassThrough< pcl_msgs::PointIndices >	nf_pi_
	Null passthrough filter, used for pushing empty elements in the synchronizer. More...

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

ros::Publisher	pub_model_
	The output ModelCoefficients publisher. More...

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

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

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_

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

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

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

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

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

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud, 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

Detailed Description

SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.

Author: Radu Bogdan Rusu

Definition at line 61 of file sac_segmentation.h.

Member Typedef Documentation

◆ PointCloud

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

private

Definition at line 63 of file sac_segmentation.h.

◆ PointCloudConstPtr

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

private

Definition at line 65 of file sac_segmentation.h.

◆ PointCloudPtr

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

private

Definition at line 64 of file sac_segmentation.h.

Constructor & Destructor Documentation

◆ SACSegmentation()

pcl_ros::SACSegmentation::SACSegmentation ( )

inline

Constructor.

Definition at line 69 of file sac_segmentation.h.

Member Function Documentation

◆ config_callback()

void pcl_ros::SACSegmentation::config_callback	(	SACSegmentationConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 194 of file sac_segmentation.cpp.

◆ getInputTFframe()

std::string pcl_ros::SACSegmentation::getInputTFframe ( )

inline

Get the TF frame the input PointCloud should be transformed into before processing.

Definition at line 77 of file sac_segmentation.h.

◆ getOutputTFframe()

std::string pcl_ros::SACSegmentation::getOutputTFframe ( )

inline

Get the TF frame the PointCloud should be transformed into after processing.

Definition at line 85 of file sac_segmentation.h.

◆ indices_callback()

void pcl_ros::SACSegmentation::indices_callback ( const PointIndicesConstPtr & indices )

inlineprotected

Indices callback. Used when latched_indices_ is set.

Parameters

indices the pointer to the input point cloud indices

Definition at line 145 of file sac_segmentation.h.

◆ input_callback()

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

inlineprotected

Input callback. Used when latched_indices_ is set.

Parameters

input the pointer to the input point cloud

Definition at line 154 of file sac_segmentation.h.

◆ input_indices_callback()

void pcl_ros::SACSegmentation::input_indices_callback	(	const PointCloudConstPtr &	cloud,
		const PointIndicesConstPtr &	indices
	)

protected

Input point cloud callback. Used when use_indices is set.

Parameters

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

DEBUG

Definition at line 267 of file sac_segmentation.cpp.

◆ onInit()

void pcl_ros::SACSegmentation::onInit ( )

protectedvirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 47 of file sac_segmentation.cpp.

◆ setInputTFframe()

void pcl_ros::SACSegmentation::setInputTFframe ( std::string tf_frame )

inline

Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.

Parameters

tf_frame the TF frame the input PointCloud should be transformed into before processing

Definition at line 74 of file sac_segmentation.h.

◆ setOutputTFframe()

void pcl_ros::SACSegmentation::setOutputTFframe ( std::string tf_frame )

inline

Set the output TF frame the data should be transformed into after processing.

Parameters

tf_frame the TF frame the PointCloud should be transformed into after processing

Definition at line 82 of file sac_segmentation.h.

◆ subscribe()

void pcl_ros::SACSegmentation::subscribe ( )

protectedvirtual

LazyNodelet connection routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 131 of file sac_segmentation.cpp.

◆ unsubscribe()

void pcl_ros::SACSegmentation::unsubscribe ( )

protectedvirtual

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals.

Definition at line 181 of file sac_segmentation.cpp.

Member Data Documentation

◆ impl_

pcl::SACSegmentation<pcl::PointXYZ> pcl_ros::SACSegmentation::impl_

private

The PCL implementation used.

Definition at line 167 of file sac_segmentation.h.

◆ indices_

PointIndices pcl_ros::SACSegmentation::indices_

protected

Pointer to a set of indices stored internally. (used when latched_indices_ is set).

Definition at line 139 of file sac_segmentation.h.

◆ min_inliers_

int pcl_ros::SACSegmentation::min_inliers_

protected

Definition at line 89 of file sac_segmentation.h.

◆ mutex_

boost::mutex pcl_ros::SACSegmentation::mutex_

private

Internal mutex.

Definition at line 164 of file sac_segmentation.h.

◆ nf_pi_

message_filters::PassThrough<pcl_msgs::PointIndices> pcl_ros::SACSegmentation::nf_pi_

protected

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

Definition at line 115 of file sac_segmentation.h.

◆ pub_indices_

ros::Publisher pcl_ros::SACSegmentation::pub_indices_

protected

The output PointIndices publisher.

Definition at line 93 of file sac_segmentation.h.

◆ pub_model_

ros::Publisher pcl_ros::SACSegmentation::pub_model_

protected

The output ModelCoefficients publisher.

Definition at line 96 of file sac_segmentation.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig> > pcl_ros::SACSegmentation::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 102 of file sac_segmentation.h.

◆ sub_input_

ros::Subscriber pcl_ros::SACSegmentation::sub_input_

protected

The input PointCloud subscriber.

Definition at line 99 of file sac_segmentation.h.

◆ sync_input_indices_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > pcl_ros::SACSegmentation::sync_input_indices_a_

private

Definition at line 171 of file sac_segmentation.h.

◆ sync_input_indices_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > > pcl_ros::SACSegmentation::sync_input_indices_e_

private

Synchronized input, and indices.

Definition at line 170 of file sac_segmentation.h.

◆ tf_input_frame_

std::string pcl_ros::SACSegmentation::tf_input_frame_

protected

The input TF frame the data should be transformed into, if input.header.frame_id is different.

Definition at line 105 of file sac_segmentation.h.

◆ tf_input_orig_frame_

std::string pcl_ros::SACSegmentation::tf_input_orig_frame_

protected

The original data input TF frame.

Definition at line 108 of file sac_segmentation.h.

◆ tf_output_frame_

std::string pcl_ros::SACSegmentation::tf_output_frame_

protected

The output TF frame the data should be transformed into, if input.header.frame_id is different.

Definition at line 111 of file sac_segmentation.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ SACSegmentation()

Member Function Documentation

◆ config_callback()

◆ getInputTFframe()

◆ getOutputTFframe()

◆ indices_callback()

◆ input_callback()

◆ input_indices_callback()

◆ onInit()

◆ setInputTFframe()

◆ setOutputTFframe()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ impl_

◆ indices_

◆ min_inliers_

◆ mutex_

◆ nf_pi_

◆ pub_indices_

◆ pub_model_

◆ srv_

◆ sub_input_

◆ sync_input_indices_a_

◆ sync_input_indices_e_

◆ tf_input_frame_

◆ tf_input_orig_frame_

◆ tf_output_frame_