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00038 #ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
00039 #define PCL_ROS_FILTERS_PROJECT_INLIERS_H_
00040
00041
00042 #include <pcl/filters/project_inliers.h>
00043 #include "pcl_ros/filters/filter.h"
00044
00045 #include <message_filters/subscriber.h>
00046
00047 namespace pcl_ros
00048 {
00049 namespace sync_policies = message_filters::sync_policies;
00050
00056 class ProjectInliers : public Filter
00057 {
00058 public:
00059 ProjectInliers () : model_ () {}
00060
00061 protected:
00067 inline void
00068 filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
00069 PointCloud2 &output)
00070 {
00071 pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
00072 pcl_conversions::toPCL (*(input), *(pcl_input));
00073 impl_.setInputCloud (pcl_input);
00074 impl_.setIndices (indices);
00075 pcl::ModelCoefficients::Ptr pcl_model(new pcl::ModelCoefficients);
00076 pcl_conversions::toPCL(*(model_), *(pcl_model));
00077 impl_.setModelCoefficients (pcl_model);
00078 pcl::PCLPointCloud2 pcl_output;
00079 impl_.filter (pcl_output);
00080 pcl_conversions::moveFromPCL(pcl_output, output);
00081 }
00082
00083 private:
00085 ModelCoefficientsConstPtr model_;
00086
00088 message_filters::Subscriber<ModelCoefficients> sub_model_;
00089
00091 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_e_;
00092 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_a_;
00094 pcl::ProjectInliers<pcl::PCLPointCloud2> impl_;
00095
00097 virtual void
00098 onInit ();
00099
00101 void
00102 input_indices_model_callback (const PointCloud2::ConstPtr &cloud,
00103 const PointIndicesConstPtr &indices,
00104 const ModelCoefficientsConstPtr &model);
00105 public:
00106 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00107 };
00108 }
00109
00110 #endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_