| 15 | using CloudT = pcl::PointCloud<PointT>; |
| 16 | |
| 17 | class SegNode |
| 18 | { |
| 19 | public: |
| 20 | explicit SegNode(const ros::NodeHandle &nh); |
| 21 | |
| 22 | private: |
| 23 | void SegCb_(const sensor_msgs::PointCloud2ConstPtr &cloudMsg); |
| 24 | Cloud::Ptr trellisCloud(const std::vector<std::vector<TreeVertex>> &landmarks); |
| 25 | boost::shared_ptr<seg::Segmentation> segmentator_ = nullptr; |
| 26 | |
| 27 | ros::NodeHandle nh_; |
| 28 | ros::Subscriber cloudSub_; |
| 29 | ros::Publisher treePub_; |
| 30 | ros::Publisher trellisPub_; |
| 31 | ros::Publisher groundPub_; |
| 32 | ros::Time prevStamp; |
| 33 | Instance graphDetector_; |
| 34 | }; |
| 35 | |
| 36 | SegNode::SegNode(const ros::NodeHandle &nh) : nh_(nh) |
| 37 | { |
nothing calls this directly
no outgoing calls
no test coverage detected