project_inliers.h
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00001 /*
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00034  * $Id: project_inliers.h 35876 2011-02-09 01:04:36Z rusu $
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00037 
00038 #ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
00039 #define PCL_ROS_FILTERS_PROJECT_INLIERS_H_
00040 
00041 // PCL includes
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_


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