SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation. More...

#include <sac_segmentation.h>

Inheritance diagram for pcl_ros::SACSegmentationFromNormals:

[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...

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::SACSegmentation
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	axis_callback (const pcl_msgs::ModelCoefficientsConstPtr &model)
	Model callback. More...

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

void	input_callback (const PointCloudConstPtr &cloud)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More...

void	input_normals_indices_callback (const PointCloudConstPtr &cloud, const PointCloudNConstPtr &cloud_normals, const PointIndicesConstPtr &indices)
	Input point cloud 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::SACSegmentation
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...

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

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

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

message_filters::Subscriber< PointCloudN >	sub_normals_filter_
	The normals PointCloud subscriber filter. 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::SACSegmentation
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 pcl::PointCloud< pcl::Normal >	PointCloudN

typedef boost::shared_ptr< const PointCloudN >	PointCloudNConstPtr

typedef boost::shared_ptr< PointCloudN >	PointCloudNPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

Private Attributes
pcl::SACSegmentationFromNormals< pcl::PointXYZ, pcl::Normal >	impl_
	The PCL implementation used. More...

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

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud, PointCloudN, PointIndices > > >	sync_input_normals_indices_a_
	Synchronized input, normals, and indices. More...

boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud, PointCloudN, PointIndices > > >	sync_input_normals_indices_e_

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

SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation.

Definition at line 181 of file sac_segmentation.h.

Member Typedef Documentation

◆ PointCloud

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

private

Definition at line 183 of file sac_segmentation.h.

◆ PointCloudConstPtr

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

private

Definition at line 185 of file sac_segmentation.h.

◆ PointCloudN

typedef pcl::PointCloud<pcl::Normal> pcl_ros::SACSegmentationFromNormals::PointCloudN

private

Definition at line 187 of file sac_segmentation.h.

◆ PointCloudNConstPtr

typedef boost::shared_ptr<const PointCloudN> pcl_ros::SACSegmentationFromNormals::PointCloudNConstPtr

private

Definition at line 189 of file sac_segmentation.h.

◆ PointCloudNPtr

typedef boost::shared_ptr<PointCloudN> pcl_ros::SACSegmentationFromNormals::PointCloudNPtr

private

Definition at line 188 of file sac_segmentation.h.

◆ PointCloudPtr

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

private

Definition at line 184 of file sac_segmentation.h.

Member Function Documentation

◆ axis_callback()

void pcl_ros::SACSegmentationFromNormals::axis_callback ( const pcl_msgs::ModelCoefficientsConstPtr & model )

protected

Model callback.

Parameters

model the sample consensus model found

Definition at line 503 of file sac_segmentation.cpp.

◆ config_callback()

void pcl_ros::SACSegmentationFromNormals::config_callback	(	SACSegmentationFromNormalsConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 520 of file sac_segmentation.cpp.

◆ getInputTFframe()

std::string pcl_ros::SACSegmentationFromNormals::getInputTFframe ( )

inline

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

Definition at line 198 of file sac_segmentation.h.

◆ getOutputTFframe()

std::string pcl_ros::SACSegmentationFromNormals::getOutputTFframe ( )

inline

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

Definition at line 206 of file sac_segmentation.h.

◆ input_callback()

void pcl_ros::SACSegmentationFromNormals::input_callback ( const PointCloudConstPtr & cloud )

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 224 of file sac_segmentation.h.

◆ input_normals_indices_callback()

void pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback	(	const PointCloudConstPtr &	cloud,
		const PointCloudNConstPtr &	cloud_normals,
		const PointIndicesConstPtr &	indices
	)

protected

Input point cloud callback.

Parameters

cloud	the pointer to the input point cloud
cloud_normals	the pointer to the input point cloud normals
indices	the pointer to the input point cloud indices

DEBUG

Definition at line 586 of file sac_segmentation.cpp.

◆ onInit()

void pcl_ros::SACSegmentationFromNormals::onInit ( )

protectedvirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 363 of file sac_segmentation.cpp.

◆ setInputTFframe()

void pcl_ros::SACSegmentationFromNormals::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 195 of file sac_segmentation.h.

◆ setOutputTFframe()

void pcl_ros::SACSegmentationFromNormals::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 203 of file sac_segmentation.h.

◆ subscribe()

void pcl_ros::SACSegmentationFromNormals::subscribe ( )

protectedvirtual

LazyNodelet connection routine.

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 446 of file sac_segmentation.cpp.

◆ unsubscribe()

void pcl_ros::SACSegmentationFromNormals::unsubscribe ( )

protectedvirtual

Reimplemented from pcl_ros::SACSegmentation.

Definition at line 490 of file sac_segmentation.cpp.

Member Data Documentation

◆ impl_

pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> pcl_ros::SACSegmentationFromNormals::impl_

private

The PCL implementation used.

Definition at line 274 of file sac_segmentation.h.

◆ mutex_

boost::mutex pcl_ros::SACSegmentationFromNormals::mutex_

private

Internal mutex.

Definition at line 271 of file sac_segmentation.h.

◆ nf_

message_filters::PassThrough<PointIndices> pcl_ros::SACSegmentationFromNormals::nf_

protected

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

Definition at line 233 of file sac_segmentation.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationFromNormalsConfig> > pcl_ros::SACSegmentationFromNormals::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 217 of file sac_segmentation.h.

◆ sub_axis_

ros::Subscriber pcl_ros::SACSegmentationFromNormals::sub_axis_

protected

The input PointCloud subscriber.

Definition at line 214 of file sac_segmentation.h.

◆ sub_normals_filter_

message_filters::Subscriber<PointCloudN> pcl_ros::SACSegmentationFromNormals::sub_normals_filter_

protected

The normals PointCloud subscriber filter.

Definition at line 211 of file sac_segmentation.h.

◆ sync_input_normals_indices_a_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices> > > pcl_ros::SACSegmentationFromNormals::sync_input_normals_indices_a_

private

Synchronized input, normals, and indices.

Definition at line 277 of file sac_segmentation.h.

◆ sync_input_normals_indices_e_

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices> > > pcl_ros::SACSegmentationFromNormals::sync_input_normals_indices_e_

private

Definition at line 278 of file sac_segmentation.h.

◆ tf_input_frame_

std::string pcl_ros::SACSegmentationFromNormals::tf_input_frame_

protected

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

Definition at line 236 of file sac_segmentation.h.

◆ tf_input_orig_frame_

std::string pcl_ros::SACSegmentationFromNormals::tf_input_orig_frame_

protected

The original data input TF frame.

Definition at line 238 of file sac_segmentation.h.

◆ tf_output_frame_

std::string pcl_ros::SACSegmentationFromNormals::tf_output_frame_

protected

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

Definition at line 240 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

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ PointCloudPtr

Member Function Documentation

◆ axis_callback()

◆ config_callback()

◆ getInputTFframe()

◆ getOutputTFframe()

◆ input_callback()

◆ input_normals_indices_callback()

◆ onInit()

◆ setInputTFframe()

◆ setOutputTFframe()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ impl_

◆ mutex_

◆ nf_

◆ srv_

◆ sub_axis_

◆ sub_normals_filter_

◆ sync_input_normals_indices_a_

◆ sync_input_normals_indices_e_

◆ tf_input_frame_

◆ tf_input_orig_frame_

◆ tf_output_frame_