passthrough.h
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00001 /*
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00034  * $Id: passthrough.h 35876 2011-02-09 01:04:36Z rusu $
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00036  */
00037 
00038 #ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
00039 #define PCL_ROS_FILTERS_PASSTHROUGH_H_
00040 
00041 // PCL includes
00042 #include <pcl/filters/passthrough.h>
00043 #include "pcl_ros/filters/filter.h"
00044 
00045 namespace pcl_ros
00046 {
00051   class PassThrough : public Filter
00052   {
00053     protected:
00055       boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_;
00056 
00062       inline void
00063       filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
00064               PointCloud2 &output)
00065       {
00066         boost::mutex::scoped_lock lock (mutex_);
00067         pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
00068         pcl_conversions::toPCL (*(input), *(pcl_input));
00069         impl_.setInputCloud (pcl_input);
00070         impl_.setIndices (indices);
00071         pcl::PCLPointCloud2 pcl_output;
00072         impl_.filter (pcl_output);
00073         pcl_conversions::moveFromPCL(pcl_output, output);
00074       }
00075 
00080       bool 
00081       child_init (ros::NodeHandle &nh, bool &has_service);
00082       
00087       void 
00088       config_callback (pcl_ros::FilterConfig &config, uint32_t level);
00089 
00090     private:
00092       pcl::PassThrough<pcl::PCLPointCloud2> impl_;
00093     public:
00094       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00095   };
00096 }
00097 
00098 #endif  //#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:31