PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. More...

#include <pcl_nodelet.h>

Inheritance diagram for pcl_ros::PCLNodelet:

Public Types
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef pcl::ModelCoefficients	ModelCoefficients
typedef ModelCoefficients::ConstPtr	ModelCoefficientsConstPtr
typedef ModelCoefficients::Ptr	ModelCoefficientsPtr
typedef pcl::PointCloud < pcl::PointXYZ >	PointCloud
typedef sensor_msgs::PointCloud2	PointCloud2
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
typedef pcl::PointIndices	PointIndices
typedef PointIndices::ConstPtr	PointIndicesConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
Public Member Functions
	PCLNodelet ()
	Empty constructor.
Protected Member Functions
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).
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).
bool	isValid (const PointIndicesConstPtr &indices, const std::string &topic_name="indices")
	Test whether a given PointIndices message is "valid" (i.e., has values).
bool	isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name="model")
	Test whether a given ModelCoefficients message is "valid" (i.e., has values).
virtual void	onInit ()
	Nodelet initialization routine. Reads in global parameters used by all nodelets.
Protected Attributes
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default).
bool	latched_indices_
	Set to true if the indices topic is latched.
int	max_queue_size_
	The maximum queue size (default: 3).
boost::shared_ptr < ros::NodeHandle >	pnh_
	The ROS NodeHandle used for parameters, publish/subscribe, etc.
ros::Publisher	pub_output_
	The output PointCloud publisher.
message_filters::Subscriber < PointIndices >	sub_indices_filter_
	The message filter subscriber for PointIndices.
message_filters::Subscriber < PointCloud >	sub_input_filter_
	The message filter subscriber for PointCloud2.
tf::TransformListener	tf_listener_
	TF listener object.
bool	use_indices_
	Set to true if point indices are used.

Detailed Description

PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class.

Definition at line 69 of file pcl_nodelet.h.

Member Typedef Documentation

typedef boost::shared_ptr<const std::vector<int> > pcl_ros::PCLNodelet::IndicesConstPtr

Reimplemented in pcl_ros::Feature, and pcl_ros::Filter.

Definition at line 87 of file pcl_nodelet.h.

typedef boost::shared_ptr<std::vector<int> > pcl_ros::PCLNodelet::IndicesPtr

Reimplemented in pcl_ros::Feature, and pcl_ros::Filter.

Definition at line 86 of file pcl_nodelet.h.

typedef pcl::ModelCoefficients pcl_ros::PCLNodelet::ModelCoefficients

Definition at line 82 of file pcl_nodelet.h.

typedef ModelCoefficients::ConstPtr pcl_ros::PCLNodelet::ModelCoefficientsConstPtr

Definition at line 84 of file pcl_nodelet.h.

typedef ModelCoefficients::Ptr pcl_ros::PCLNodelet::ModelCoefficientsPtr

Definition at line 83 of file pcl_nodelet.h.

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

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::ExtractPolygonalPrismData, pcl_ros::SACSegmentation, pcl_ros::SegmentDifferences, and pcl_ros::ConvexHull2D.

Definition at line 74 of file pcl_nodelet.h.

typedef sensor_msgs::PointCloud2 pcl_ros::PCLNodelet::PointCloud2

Reimplemented in pcl_ros::FeatureFromNormals, pcl_ros::PCDWriter, pcl_ros::Filter, and pcl_ros::PCDReader.

Definition at line 72 of file pcl_nodelet.h.

typedef PointCloud::ConstPtr pcl_ros::PCLNodelet::PointCloudConstPtr

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::ExtractPolygonalPrismData, pcl_ros::SACSegmentation, pcl_ros::SegmentDifferences, and pcl_ros::ConvexHull2D.

Definition at line 76 of file pcl_nodelet.h.

typedef PointCloud::Ptr pcl_ros::PCLNodelet::PointCloudPtr

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::ExtractPolygonalPrismData, pcl_ros::SACSegmentation, pcl_ros::SegmentDifferences, and pcl_ros::ConvexHull2D.

Definition at line 75 of file pcl_nodelet.h.

typedef pcl::PointIndices pcl_ros::PCLNodelet::PointIndices

Definition at line 78 of file pcl_nodelet.h.

typedef PointIndices::ConstPtr pcl_ros::PCLNodelet::PointIndicesConstPtr

Definition at line 80 of file pcl_nodelet.h.

typedef PointIndices::Ptr pcl_ros::PCLNodelet::PointIndicesPtr

Definition at line 79 of file pcl_nodelet.h.

Constructor & Destructor Documentation

pcl_ros::PCLNodelet::PCLNodelet ( ) [inline]

Empty constructor.

Definition at line 90 of file pcl_nodelet.h.

Member Function Documentation

bool pcl_ros::PCLNodelet::isValid	(	const PointCloud2::ConstPtr &	cloud,
		const std::string &	topic_name = `"input"`
	)		`[inline, protected]`

Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).

Parameters:

cloud	the point cloud to test
topic_name	an optional topic name (only used for printing, defaults to "input")

Definition at line 140 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid	(	const PointCloudConstPtr &	cloud,
		const std::string &	topic_name = `"input"`
	)		`[inline, protected]`

Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).

Parameters:

cloud	the point cloud to test
topic_name	an optional topic name (only used for printing, defaults to "input")

Definition at line 156 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid	(	const PointIndicesConstPtr &	indices,
		const std::string &	topic_name = `"indices"`
	)		`[inline, protected]`

Test whether a given PointIndices message is "valid" (i.e., has values).

Parameters:

indices	the point indices message to test
topic_name	an optional topic name (only used for printing, defaults to "indices")

Definition at line 172 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid	(	const ModelCoefficientsConstPtr &	model,
		const std::string &	topic_name = `"model"`
	)		`[inline, protected]`

Test whether a given ModelCoefficients message is "valid" (i.e., has values).

Parameters:

model	the model coefficients to test
topic_name	an optional topic name (only used for printing, defaults to "model")

Definition at line 187 of file pcl_nodelet.h.

virtual void pcl_ros::PCLNodelet::onInit ( ) [inline, protected, virtual]

Nodelet initialization routine. Reads in global parameters used by all nodelets.

Implements nodelet::Nodelet.

Reimplemented in pcl_ros::SACSegmentationFromNormals, pcl_ros::FeatureFromNormals, pcl_ros::Feature, pcl_ros::Filter, pcl_ros::SACSegmentation, pcl_ros::MovingLeastSquares, pcl_ros::PCDWriter, pcl_ros::ExtractPolygonalPrismData, pcl_ros::ProjectInliers, pcl_ros::SegmentDifferences, pcl_ros::EuclideanClusterExtraction, pcl_ros::ConvexHull2D, and pcl_ros::PCDReader.

Definition at line 199 of file pcl_nodelet.h.

Member Data Documentation

bool pcl_ros::PCLNodelet::approximate_sync_ [protected]

True if we use an approximate time synchronizer versus an exact one (false by default).

Definition at line 130 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::latched_indices_ [protected]

Set to true if the indices topic is latched.

If use_indices_ is true, the ~input and ~indices topics generally must be synchronised in time. By setting this flag to true, the most recent value from ~indices can be used instead of requiring a synchronised message.

Definition at line 115 of file pcl_nodelet.h.

int pcl_ros::PCLNodelet::max_queue_size_ [protected]

The maximum queue size (default: 3).

Definition at line 127 of file pcl_nodelet.h.

boost::shared_ptr<ros::NodeHandle> pcl_ros::PCLNodelet::pnh_ [protected]

The ROS NodeHandle used for parameters, publish/subscribe, etc.

Definition at line 91 of file pcl_nodelet.h.

ros::Publisher pcl_ros::PCLNodelet::pub_output_ [protected]

The output PointCloud publisher.

Reimplemented in pcl_ros::ExtractPolygonalPrismData.

Definition at line 124 of file pcl_nodelet.h.

message_filters::Subscriber<PointIndices> pcl_ros::PCLNodelet::sub_indices_filter_ [protected]

The message filter subscriber for PointIndices.

Definition at line 121 of file pcl_nodelet.h.

message_filters::Subscriber<PointCloud> pcl_ros::PCLNodelet::sub_input_filter_ [protected]

The message filter subscriber for PointCloud2.

Reimplemented in pcl_ros::Filter.

Definition at line 118 of file pcl_nodelet.h.

tf::TransformListener pcl_ros::PCLNodelet::tf_listener_ [protected]

TF listener object.

Definition at line 133 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::use_indices_ [protected]

Set to true if point indices are used.

When receiving a point cloud, if use_indices_ is false, the entire point cloud is processed for the given operation. If use_indices_ is true, then the ~indices topic is read to get the vector of point indices specifying the subset of the point cloud that will be used for the operation. In the case where use_indices_ is true, the ~input and ~indices topics must be synchronised in time, either exact or within a specified jitter. See also latched_indices_ and approximate_sync.

Definition at line 107 of file pcl_nodelet.h.

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

pcl_nodelet.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation