extract_clusters.h
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37 
38 #ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
39 #define PCL_ROS_EXTRACT_CLUSTERS_H_
40 
41 #include <pcl/segmentation/extract_clusters.h>
42 #include "pcl_ros/pcl_nodelet.h"
43 
44 // Dynamic reconfigure
45 #include <dynamic_reconfigure/server.h>
46 #include "pcl_ros/EuclideanClusterExtractionConfig.h"
47 
48 namespace pcl_ros
49 {
51 
54 
58  {
59  public:
61  EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
62 
63  protected:
64  // ROS nodelet attributes
66  bool publish_indices_;
67 
70 
73 
75  void onInit ();
76 
78  void subscribe ();
79  void unsubscribe ();
80 
85  void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level);
86 
91  void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);
92 
93  private:
95  pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_;
96 
99 
103 
104  public:
105  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
106  };
107 }
108 
109 #endif //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
bool publish_indices_
Publish indices or convert to PointCloud clusters. Default: false.
boost::shared_ptr< dynamic_reconfigure::Server< EuclideanClusterExtractionConfig > > srv_
Pointer to a dynamic reconfigure service.
void subscribe()
LazyNodelet connection routine.
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud, PointIndices > > > sync_input_indices_a_
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud, PointIndices > > > sync_input_indices_e_
Synchronized input, and indices.
PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class...
Definition: pcl_nodelet.h:72
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen...
int max_clusters_
Maximum number of clusters to publish.
EuclideanClusterExtraction()
Empty constructor.
ros::Subscriber sub_input_
The input PointCloud subscriber.
void onInit()
Nodelet initialization routine.
PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_nodelet.h:79
pcl::EuclideanClusterExtraction< pcl::PointXYZ > impl_
The PCL implementation used.
void input_indices_callback(const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)
Input point cloud callback.
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_nodelet.h:83
void config_callback(EuclideanClusterExtractionConfig &config, uint32_t level)
Dynamic reconfigure callback.


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18