#include <simple_segmentation_nodelet.h>

Inheritance diagram for cob_3d_segmentation::SimpleSegmentationNodelet:

Public Types
typedef FastSegmentation < pcl::PointXYZRGB, pcl::Normal, PointLabel > ::ClusterPtr	ClusterPtr
typedef pcl::PointCloud < PointLabel >	LabelCloud
typedef pcl::PointCloud < pcl::Normal >	NormalCloud
typedef pcl::PointCloud < pcl::PointXYZRGB >	PointCloud
Public Member Functions
	SimpleSegmentationNodelet ()
	~SimpleSegmentationNodelet ()
Protected Member Functions
void	actionCallback (const cob_3d_mapping_msgs::TriggerGoalConstPtr &goal)
void	computeAndPublish ()
void	computeTexture (ClusterPtr &c, Eigen::Affine3f &trf, unsigned int id)
void	configCallback (cob_3d_segmentation::segmentation_nodeletConfig &config, uint32_t levels)
void	onInit ()
void	publishClassifiedCloud ()
void	topicCallback (const PointCloud::ConstPtr &cloud)
Protected Attributes
actionlib::SimpleActionServer < cob_3d_mapping_msgs::TriggerAction > *	as_
float	centroid_passthrough_
bool	colorize_
boost::shared_ptr < dynamic_reconfigure::Server < cob_3d_segmentation::segmentation_nodeletConfig > >	config_server_
ClusterConversion < pcl::PointXYZRGB >	conv_
PointCloud::Ptr	down_
bool	downsample_
bool	enable_action_mode_
bool	filter_
bool	is_running_
LabelCloud::Ptr	labels_
int	min_cluster_size_
boost::mutex	mutex_
ros::NodeHandle	nh_
NormalCloud::Ptr	normals_
cob_3d_features::OrganizedNormalEstimationOMP < pcl::PointXYZRGB, pcl::Normal, PointLabel >	one_
ros::Publisher	pub_classified_
ros::Publisher	pub_segmented_
ros::Publisher	pub_shape_array_
FastSegmentation < pcl::PointXYZRGB, pcl::Normal, PointLabel >	seg_
PointCloud::Ptr	segmented_
ros::Subscriber	sub_points_

Detailed Description

Definition at line 90 of file simple_segmentation_nodelet.h.

Member Typedef Documentation

typedef FastSegmentation<pcl::PointXYZRGB, pcl::Normal, PointLabel>::ClusterPtr cob_3d_segmentation::SimpleSegmentationNodelet::ClusterPtr

Definition at line 96 of file simple_segmentation_nodelet.h.

typedef pcl::PointCloud<PointLabel> cob_3d_segmentation::SimpleSegmentationNodelet::LabelCloud

Definition at line 95 of file simple_segmentation_nodelet.h.

typedef pcl::PointCloud<pcl::Normal> cob_3d_segmentation::SimpleSegmentationNodelet::NormalCloud

Definition at line 94 of file simple_segmentation_nodelet.h.

typedef pcl::PointCloud<pcl::PointXYZRGB> cob_3d_segmentation::SimpleSegmentationNodelet::PointCloud

Definition at line 93 of file simple_segmentation_nodelet.h.

Constructor & Destructor Documentation

cob_3d_segmentation::SimpleSegmentationNodelet::SimpleSegmentationNodelet ( ) [inline]

Definition at line 99 of file simple_segmentation_nodelet.h.

cob_3d_segmentation::SimpleSegmentationNodelet::~SimpleSegmentationNodelet ( ) [inline]

Definition at line 115 of file simple_segmentation_nodelet.h.

Member Function Documentation

void cob_3d_segmentation::SimpleSegmentationNodelet::actionCallback ( const cob_3d_mapping_msgs::TriggerGoalConstPtr & goal ) [protected]

Definition at line 133 of file simple_segmentation_nodelet.cpp.

void cob_3d_segmentation::SimpleSegmentationNodelet::computeAndPublish ( ) [protected]

Definition at line 180 of file simple_segmentation_nodelet.cpp.

void cob_3d_segmentation::SimpleSegmentationNodelet::computeTexture	(	ClusterPtr &	c,
		Eigen::Affine3f &	trf,
		unsigned int	id
	)		`[protected]`

Definition at line 282 of file simple_segmentation_nodelet.cpp.

void cob_3d_segmentation::SimpleSegmentationNodelet::configCallback	(	cob_3d_segmentation::segmentation_nodeletConfig &	config,
		uint32_t	levels
	)		`[protected]`

Definition at line 113 of file simple_segmentation_nodelet.cpp.

void cob_3d_segmentation::SimpleSegmentationNodelet::onInit ( ) [protected, virtual]

Implements nodelet::Nodelet.

Definition at line 84 of file simple_segmentation_nodelet.cpp.

void cob_3d_segmentation::SimpleSegmentationNodelet::publishClassifiedCloud ( ) [protected]

Definition at line 235 of file simple_segmentation_nodelet.cpp.

void cob_3d_segmentation::SimpleSegmentationNodelet::topicCallback ( const PointCloud::ConstPtr & cloud ) [protected]

Definition at line 155 of file simple_segmentation_nodelet.cpp.

Member Data Documentation

actionlib::SimpleActionServer<cob_3d_mapping_msgs::TriggerAction>* cob_3d_segmentation::SimpleSegmentationNodelet::as_ [protected]

Definition at line 135 of file simple_segmentation_nodelet.h.

float cob_3d_segmentation::SimpleSegmentationNodelet::centroid_passthrough_ [protected]

Definition at line 148 of file simple_segmentation_nodelet.h.

bool cob_3d_segmentation::SimpleSegmentationNodelet::colorize_ [protected]

Definition at line 152 of file simple_segmentation_nodelet.h.

boost::shared_ptr<dynamic_reconfigure::Server<cob_3d_segmentation::segmentation_nodeletConfig> > cob_3d_segmentation::SimpleSegmentationNodelet::config_server_ [protected]

Definition at line 137 of file simple_segmentation_nodelet.h.

ClusterConversion<pcl::PointXYZRGB> cob_3d_segmentation::SimpleSegmentationNodelet::conv_ [protected]

Definition at line 141 of file simple_segmentation_nodelet.h.

PointCloud::Ptr cob_3d_segmentation::SimpleSegmentationNodelet::down_ [protected]

Definition at line 143 of file simple_segmentation_nodelet.h.

bool cob_3d_segmentation::SimpleSegmentationNodelet::downsample_ [protected]

Definition at line 151 of file simple_segmentation_nodelet.h.

bool cob_3d_segmentation::SimpleSegmentationNodelet::enable_action_mode_ [protected]

Definition at line 153 of file simple_segmentation_nodelet.h.

bool cob_3d_segmentation::SimpleSegmentationNodelet::filter_ [protected]

Definition at line 150 of file simple_segmentation_nodelet.h.

bool cob_3d_segmentation::SimpleSegmentationNodelet::is_running_ [protected]