extract_clusters.h
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00001 /*
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00034  * $Id: extract_clusters.h 35361 2011-01-20 04:34:49Z rusu $
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00037 
00038 #ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
00039 #define PCL_ROS_EXTRACT_CLUSTERS_H_
00040 
00041 #include <pcl/segmentation/extract_clusters.h>
00042 #include "pcl_ros/pcl_nodelet.h"
00043 
00044 // Dynamic reconfigure
00045 #include <dynamic_reconfigure/server.h>
00046 #include "pcl_ros/EuclideanClusterExtractionConfig.h"
00047 
00048 namespace pcl_ros
00049 {
00050   namespace sync_policies = message_filters::sync_policies;
00051 
00054 
00057   class EuclideanClusterExtraction : public PCLNodelet
00058   {
00059     public:
00061       EuclideanClusterExtraction () : publish_indices_ (false), max_clusters_ (std::numeric_limits<int>::max ()) {};
00062                                       
00063     protected:
00064       // ROS nodelet attributes
00066       bool publish_indices_;
00067 
00069       int max_clusters_;
00070 
00072       boost::shared_ptr<dynamic_reconfigure::Server<EuclideanClusterExtractionConfig> > srv_;
00073 
00075       void onInit ();
00076 
00081       void config_callback (EuclideanClusterExtractionConfig &config, uint32_t level);
00082 
00087       void input_indices_callback (const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices);
00088 
00089     private:
00091       pcl::EuclideanClusterExtraction<pcl::PointXYZ> impl_;
00092 
00094       ros::Subscriber sub_input_;
00095 
00097       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointIndices> > >       sync_input_indices_e_;
00098       boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud, PointIndices> > > sync_input_indices_a_;
00099 
00100     public:
00101       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00102   };
00103 }
00104 
00105 #endif  //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_


pcl_ros
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:22:22