Public Member Functions
	Nbv (ros::NodeHandle &anode)
	~Nbv ()
Protected Member Functions
void	castRayAndLabel (pcl::PointCloud< pcl::PointXYZ > &cloud, octomap::pose6d origin)
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pointcloud2_msg)
	cloud callback and the core filtering function at the same time
void	computeBoundaryPoints (pcl::PointCloud< pcl::PointXYZ > &border_cloud, pcl::PointCloud< pcl::Normal > &border_normals, std::vector< pcl::PointIndices > &clusters, pcl::PointCloud< pcl::PointXYZ > *cluster_clouds)
void	createOctree (pcl::PointCloud< pcl::PointXYZ > &pointcloud2_pcl, octomap::pose6d laser_pose)
void	extractClusters (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, float tolerance, const boost::shared_ptr< pcl::KdTree< pcl::PointXYZ > > &tree, std::vector< pcl::PointIndices > &clusters, double eps_angle, unsigned int min_pts_per_cluster=1, unsigned int max_pts_per_cluster=std::numeric_limits< int >::max())
void	findBorderPoints (pcl::PointCloud< pcl::PointXYZ > &border_cloud, std::string frame_id)
void	visualizeOctree (const sensor_msgs::PointCloud2ConstPtr &pointcloud2_msg, geometry_msgs::Point viewpoint)
Static Protected Member Functions
static bool	compareClusters (pcl::PointIndices c1, pcl::PointIndices c2)
Protected Attributes
pcl_ros::Publisher < pcl::PointNormal >	border_cloud_pub_
double	boundary_angle_threshold_
bool	check_centroids_
sensor_msgs::PointCloud2	cloud_in_
ros::Subscriber	cloud_sub_
pcl_ros::Publisher< pcl::PointXYZ >	cluster_cloud2_pub_
pcl_ros::Publisher< pcl::PointXYZ >	cluster_cloud3_pub_
pcl_ros::Publisher< pcl::PointXYZ >	cluster_cloud_pub_
double	eps_angle_
int	free_label_
std::string	input_cloud_topic_
std::string	laser_frame_
int	level_
int	min_pts_per_cluster_
geometry_msgs::PoseArray	nbv_pose_array_
ros::NodeHandle	nh_
double	normal_search_radius_
int	occupied_label_
octomap::ScanGraph *	octomap_graph_
octomap::OcTreePCL *	octree_
visualization_msgs::MarkerArray	octree_marker_array_msg_
ros::Publisher	octree_marker_array_publisher_
ros::Publisher	octree_marker_publisher_
double	octree_maxrange_
ros::Publisher	octree_pub_
double	octree_res_
std::string	output_octree_topic_
std::string	output_pose_topic_
ros::Publisher	pose_pub_
octomap::KeyRay	ray
tf::TransformListener	tf_listener_
double	tolerance_
int	unknown_label_
bool	visualize_octree_

Detailed Description

Definition at line 45 of file next_best_view.cpp.

Constructor & Destructor Documentation

Nbv::Nbv ( ros::NodeHandle & anode )

Definition at line 119 of file next_best_view.cpp.

Nbv::~Nbv ( )

Definition at line 154 of file next_best_view.cpp.

Member Function Documentation

void Nbv::castRayAndLabel	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		octomap::pose6d	origin
	)		`[protected]`

Definition at line 398 of file next_best_view.cpp.

void Nbv::cloud_cb ( const sensor_msgs::PointCloud2ConstPtr & pointcloud2_msg ) [protected]

cloud callback and the core filtering function at the same time

Parameters:

pointcloud2_msg input point cloud to be processed

Definition at line 166 of file next_best_view.cpp.

static bool Nbv::compareClusters	(	pcl::PointIndices	c1,
		pcl::PointIndices	c2
	)		`[inline, static, protected]`

Definition at line 95 of file next_best_view.cpp.

void Nbv::computeBoundaryPoints	(	pcl::PointCloud< pcl::PointXYZ > &	border_cloud,
		pcl::PointCloud< pcl::Normal > &	border_normals,
		std::vector< pcl::PointIndices > &	clusters,
		pcl::PointCloud< pcl::PointXYZ > *	cluster_clouds
	)		`[protected]`

Definition at line 323 of file next_best_view.cpp.

void Nbv::createOctree	(	pcl::PointCloud< pcl::PointXYZ > &	pointcloud2_pcl,
		octomap::pose6d	laser_pose
	)		`[protected]`

creating an octree from pcl data

Definition at line 464 of file next_best_view.cpp.

void Nbv::extractClusters	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const pcl::PointCloud< pcl::Normal > &	normals,
		float	tolerance,
		const boost::shared_ptr< pcl::KdTree< pcl::PointXYZ > > &	tree,
		std::vector< pcl::PointIndices > &	clusters,
		double	eps_angle,
		unsigned int	min_pts_per_cluster = `1`,
		unsigned int	max_pts_per_cluster = `std::numeric_limits< int >::max()`
	)		`[protected]`