#include <global_rsd.h>

Inheritance diagram for pcl_cloud_algos::GlobalRSD:

Classes
struct	QueryPoint
Public Types
typedef sensor_msgs::PointCloud2	InputType
typedef pcl::KdTree < pcl::PointNormal >::Ptr	KdTreePtr
typedef sensor_msgs::PointCloud2	OutputType
Public Member Functions
ros::Publisher	createPublisher (ros::NodeHandle &nh)
	GlobalRSD ()
void	init (ros::NodeHandle &)
boost::shared_ptr< const OutputType >	output ()
void	post ()
void	pre ()
std::string	process (const boost::shared_ptr< const InputType > &)
std::vector< std::string >	provides ()
std::vector< std::string >	requires ()
void	setOctree (pcl::PointCloud< pcl::PointNormal > pointcloud_msg, double octree_res, int initial_label, double laser_offset=0, double octree_maxrange=-1)
int	setSurfaceType (pcl::PointCloud< pcl::PointNormal > cloud, std::vector< int > indices, std::vector< int > neighbors, double max_dist)
	: taken from 16.06.2010 version of EstimateMinMaxRadius.cc
	~GlobalRSD ()
Static Public Member Functions
static std::string	default_input_topic ()
static std::string	default_node_name ()
static std::string	default_output_topic ()
Public Attributes
pcl::PointCloud< pcl::PointNormal >	cloud_centroids_
pcl::PointCloud< pcl::PointNormal >	cloud_vrsd_
double	max_min_radius_diff_
double	max_radius_noise_
double	min_radius_edge_
double	min_radius_noise_
double	min_radius_plane_
int	min_voxel_pts_
int	point_label_
bool	publish_cloud_centroids_
bool	publish_cloud_vrsd_
bool	publish_octree_
int	step_
double	width_
Private Attributes
pcl::PointCloud < pcl::GRSDSignature21 >	cloud_grsd_
ros::NodeHandle	nh_
int	nr_bins_
octomap::OcTreePCL *	octree_
ros::Publisher	octree_binary_publisher_
pcl_ros::Publisher < pcl::PointNormal >	pub_cloud_centroids_
pcl_ros::Publisher < pcl::PointNormal >	pub_cloud_vrsd_

Detailed Description

Definition at line 59 of file global_rsd.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_cloud_algos::GlobalRSD::InputType

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 65 of file global_rsd.h.

typedef pcl::KdTree<pcl::PointNormal>::Ptr pcl_cloud_algos::GlobalRSD::KdTreePtr

Definition at line 66 of file global_rsd.h.

typedef sensor_msgs::PointCloud2 pcl_cloud_algos::GlobalRSD::OutputType

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 64 of file global_rsd.h.

Constructor & Destructor Documentation

pcl_cloud_algos::GlobalRSD::GlobalRSD ( ) [inline]

Definition at line 114 of file global_rsd.h.

pcl_cloud_algos::GlobalRSD::~GlobalRSD ( ) [inline]

Definition at line 127 of file global_rsd.h.

Member Function Documentation

ros::Publisher pcl_cloud_algos::GlobalRSD::createPublisher ( ros::NodeHandle & nh ) [inline, virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 131 of file global_rsd.h.

static std::string pcl_cloud_algos::GlobalRSD::default_input_topic ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 87 of file global_rsd.h.

static std::string pcl_cloud_algos::GlobalRSD::default_node_name ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 95 of file global_rsd.h.

static std::string pcl_cloud_algos::GlobalRSD::default_output_topic ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 91 of file global_rsd.h.

void GlobalRSD::init ( ros::NodeHandle & nh ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 6 of file global_rsd.cpp.

boost::shared_ptr< const GlobalRSD::OutputType > GlobalRSD::output ( )

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 325 of file global_rsd.cpp.

void GlobalRSD::post ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 30 of file global_rsd.cpp.

void GlobalRSD::pre ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 13 of file global_rsd.cpp.

std::string GlobalRSD::process ( const boost::shared_ptr< const InputType > & )

: will be overwritten and need to be resized afterwards

: passing the pointer here is OK as kdTree and cloud_vrsd_ have the same scope (+ for KdTreeANN it doesn't matter)

Iterate over all cells

TODO: just start for from it_i+1

Outputting result in libSVM format

Definition at line 66 of file global_rsd.cpp.

std::vector< std::string > GlobalRSD::provides ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 47 of file global_rsd.cpp.

std::vector< std::string > GlobalRSD::requires ( ) [virtual]

Implements pcl_cloud_algos::CloudAlgo.

Definition at line 35 of file global_rsd.cpp.

void pcl_cloud_algos::GlobalRSD::setOctree	(	pcl::PointCloud< pcl::PointNormal >	pointcloud_msg,
		double	octree_res,
		int	initial_label,
		double	laser_offset = `0`,
		double	octree_maxrange = `-1`
	)		`[inline]`

Definition at line 254 of file global_rsd.h.

int pcl_cloud_algos::GlobalRSD::setSurfaceType	(	pcl::PointCloud< pcl::PointNormal >	cloud,
		std::vector< int > *	indices,
		std::vector< int > *	neighbors,
		double	max_dist
	)		`[inline]`