SHOTEstimation estimates SHOT descriptor. More...

#include <shot.h>

Inheritance diagram for pcl_ros::SHOTEstimation:

[legend]

Private Types
typedef pcl::PointCloud< pcl::SHOT352 >	PointCloudOut

Private Member Functions
bool	childInit (ros::NodeHandle &nh)
	Child initialization routine. Internal method. More...

void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudNConstPtr &normals, const PointCloudInConstPtr &surface, const IndicesPtr &indices)
	Compute the feature and publish it. More...

void	emptyPublish (const PointCloudInConstPtr &cloud)
	Publish an empty point cloud of the feature output type. More...

Private Attributes
pcl::SHOTEstimation< pcl::PointXYZ, pcl::Normal, pcl::SHOT352 >	impl_

Additional Inherited Members
Public Types inherited from pcl_ros::FeatureFromNormals
typedef sensor_msgs::PointCloud2	PointCloud2

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

typedef boost::shared_ptr< const PointCloudN >	PointCloudNConstPtr

typedef boost::shared_ptr< PointCloudN >	PointCloudNPtr

Public Types inherited from pcl_ros::Feature
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl::KdTree< pcl::PointXYZ >	KdTree

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

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudIn

typedef boost::shared_ptr< const PointCloudIn >	PointCloudInConstPtr

typedef boost::shared_ptr< PointCloudIn >	PointCloudInPtr

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::FeatureFromNormals
	FeatureFromNormals ()

Public Member Functions inherited from pcl_ros::Feature
	Feature ()
	Empty constructor. 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 inherited from pcl_ros::Feature
void	config_callback (FeatureConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	input_callback (const PointCloudInConstPtr &input)
	Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. 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 inherited from pcl_ros::FeatureFromNormals
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl_ros::Feature
int	k_
	The number of K nearest neighbors to use for each point. More...

message_filters::PassThrough< PointCloudIn >	nf_pc_

message_filters::PassThrough< PointIndices >	nf_pi_
	Null passthrough filter, used for pushing empty elements in the synchronizer. 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< FeatureConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

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

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

KdTreePtr	tree_
	The input point cloud dataset. More...

bool	use_surface_
	Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. 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

SHOTEstimation estimates SHOT descriptor.

Definition at line 48 of file shot.h.

Member Typedef Documentation

◆ PointCloudOut

typedef pcl::PointCloud<pcl::SHOT352> pcl_ros::SHOTEstimation::PointCloudOut

private

Definition at line 53 of file shot.h.

Member Function Documentation

◆ childInit()

bool pcl_ros::SHOTEstimation::childInit ( ros::NodeHandle & nh )

inlineprivatevirtual

Child initialization routine. Internal method.

Implements pcl_ros::FeatureFromNormals.

Definition at line 57 of file shot.h.

◆ computePublish()

void pcl_ros::SHOTEstimation::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudNConstPtr &	normals,
		const PointCloudInConstPtr &	surface,
		const IndicesPtr &	indices
	)

privatevirtual

Compute the feature and publish it.

Implements pcl_ros::FeatureFromNormals.

Definition at line 49 of file shot.cpp.

◆ emptyPublish()

void pcl_ros::SHOTEstimation::emptyPublish ( const PointCloudInConstPtr & cloud )

privatevirtual

Publish an empty point cloud of the feature output type.

Implements pcl_ros::FeatureFromNormals.

Definition at line 41 of file shot.cpp.

Member Data Documentation

◆ impl_

pcl::SHOTEstimation<pcl::PointXYZ, pcl::Normal, pcl::SHOT352> pcl_ros::SHOTEstimation::impl_

private

Definition at line 51 of file shot.h.

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

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ PointCloudOut

Member Function Documentation

◆ childInit()

◆ computePublish()

◆ emptyPublish()

Member Data Documentation

◆ impl_