#include <polygon_point_cloud_filter.h>
Public Member Functions | |
bool | configure () |
bool | inPolygon (const geometry_msgs::Point32 &p) const |
PolygonPointCloudFilter () | |
bool | update (const sensor_msgs::PointCloud &input_scan, sensor_msgs::PointCloud &filtered_scan) |
Private Attributes | |
ros::Publisher | filter_polygon_pub_ |
std::string | frame_ |
ros::NodeHandle | nh_ |
std::vector < geometry_msgs::Point32 > | poly_ |
tf::TransformListener | tf_ |
Filter that takes as parameters a 2d polygon and a frame Given a point cloud, for each point it transforms to the frame and drops the z coordinate, then checks if it lies in the polygon. If it does, skip it, else keep the (untransformed) point.
Definition at line 56 of file polygon_point_cloud_filter.h.
Definition at line 60 of file polygon_point_cloud_filter.h.
bool cart_state_estimator::PolygonPointCloudFilter::configure | ( | ) | [virtual] |
Implements filters::FilterBase< sensor_msgs::PointCloud >.
bool cart_state_estimator::PolygonPointCloudFilter::inPolygon | ( | const geometry_msgs::Point32 & | p | ) | const |
bool cart_state_estimator::PolygonPointCloudFilter::update | ( | const sensor_msgs::PointCloud & | input_scan, |
sensor_msgs::PointCloud & | filtered_scan | ||
) | [virtual] |
Implements filters::FilterBase< sensor_msgs::PointCloud >.
Definition at line 69 of file polygon_point_cloud_filter.h.
std::string cart_state_estimator::PolygonPointCloudFilter::frame_ [private] |
Definition at line 71 of file polygon_point_cloud_filter.h.
Definition at line 68 of file polygon_point_cloud_filter.h.
std::vector<geometry_msgs::Point32> cart_state_estimator::PolygonPointCloudFilter::poly_ [private] |
Definition at line 70 of file polygon_point_cloud_filter.h.
Definition at line 67 of file polygon_point_cloud_filter.h.