NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures. More...
#include <normal_3d.h>
Private Types | |
typedef pcl::PointCloud< pcl::Normal > | PointCloudOut |
Private Member Functions | |
bool | childInit (ros::NodeHandle &nh) |
Child initialization routine. Internal method. More... | |
void | computePublish (const PointCloudInConstPtr &cloud, 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::NormalEstimation< pcl::PointXYZ, pcl::Normal > | impl_ |
PCL implementation object. More... | |
Additional Inherited Members | |
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::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 ModelCoefficientsConstPtr &, const std::string &="model") |
Test whether a given ModelCoefficients message is "valid" (i.e., has values). More... | |
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... | |
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::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_ |
NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures.
Definition at line 53 of file normal_3d.h.
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private |
Definition at line 59 of file normal_3d.h.
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inlineprivatevirtual |
Child initialization routine. Internal method.
Implements pcl_ros::Feature.
Definition at line 63 of file normal_3d.h.
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privatevirtual |
Compute the feature and publish it.
Implements pcl_ros::Feature.
Definition at line 50 of file normal_3d.cpp.
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privatevirtual |
Publish an empty point cloud of the feature output type.
cloud | the input point cloud to copy the header from. |
Implements pcl_ros::Feature.
Definition at line 42 of file normal_3d.cpp.
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private |
PCL implementation object.
Definition at line 57 of file normal_3d.h.