Class SACSegmentation

Inheritance Relationships

Base Type

  • public PCLNodelet

Derived Type

Class Documentation

class SACSegmentation : public PCLNodelet

SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.

Author

Radu Bogdan Rusu

Subclassed by pcl_ros::SACSegmentationFromNormals

Public Functions

inline SACSegmentation()

Constructor.

inline void setInputTFframe(std::string tf_frame)

Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.

Parameters:

tf_frame – the TF frame the input PointCloud should be transformed into before processing

inline std::string getInputTFframe()

Get the TF frame the input PointCloud should be transformed into before processing.

inline void setOutputTFframe(std::string tf_frame)

Set the output TF frame the data should be transformed into after processing.

Parameters:

tf_frame – the TF frame the PointCloud should be transformed into after processing

inline std::string getOutputTFframe()

Get the TF frame the PointCloud should be transformed into after processing.

Protected Functions

virtual void onInit()

Nodelet initialization routine.

virtual void subscribe()

LazyNodelet connection routine.

virtual void unsubscribe()
void config_callback(SACSegmentationConfig &config, uint32_t level)

Dynamic reconfigure callback.

Parameters:

  • config – the config object

  • level – the dynamic reconfigure level

void input_indices_callback(const PointCloudConstPtr &cloud, const PointIndicesConstPtr &indices)

Input point cloud callback. Used when use_indices is set.

Parameters:

  • cloud – the pointer to the input point cloud

  • indices – the pointer to the input point cloud indices

inline void indices_callback(const PointIndicesConstPtr &indices)

Indices callback. Used when latched_indices_ is set.

Parameters:

indices – the pointer to the input point cloud indices

inline void input_callback(const PointCloudConstPtr &input)

Input callback. Used when latched_indices_ is set.

Parameters:

input – the pointer to the input point cloud

Protected Attributes

int min_inliers_
ros::Publisher pub_indices_

The output PointIndices publisher.

ros::Publisher pub_model_

The output ModelCoefficients publisher.

ros::Subscriber sub_input_

The input PointCloud subscriber.

boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig>> srv_

Pointer to a dynamic reconfigure service.

std::string tf_input_frame_

The input TF frame the data should be transformed into, if input.header.frame_id is different.

std::string tf_input_orig_frame_

The original data input TF frame.

std::string tf_output_frame_

The output TF frame the data should be transformed into, if input.header.frame_id is different.

message_filters::PassThrough<pcl_msgs::PointIndices> nf_pi_

Null passthrough filter, used for pushing empty elements in the synchronizer.

PointIndices indices_

Pointer to a set of indices stored internally. (used when latched_indices_ is set).