A filter to remove parts of the robot seen in a pointcloud. More...

#include <self_see_filter.h>

Inheritance diagram for filters::SelfFilter< PointT >:

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
Public Member Functions
virtual bool	configure (void)
void	fillDiff (const PointCloud &data_in, const std::vector< int > &keep, PointCloud &data_out)
void	fillResult (const PointCloud &data_in, const std::vector< int > &keep, PointCloud &data_out)
robot_self_filter::SelfMask < PointT > *	getSelfMask ()
	SelfFilter (ros::NodeHandle nh)
	Construct the filter.
void	setSensorFrame (const std::string &frame)
virtual bool	update (const PointCloud &data_in, PointCloud &data_out)
	Update the filter and return the data seperately.
virtual bool	update (const PointCloud &data_in, PointCloud &data_out, PointCloud &data_diff)
	Update the filter and return the data seperately.
virtual bool	update (const std::vector< PointCloud > &data_in, std::vector< PointCloud > &data_out)
bool	updateWithSensorFrame (const PointCloud &data_in, PointCloud &data_out, const std::string &sensor_frame)
bool	updateWithSensorFrame (const PointCloud &data_in, PointCloud &data_out, PointCloud &data_diff, const std::string &sensor_frame)
virtual bool	updateWithSensorFrame (const std::vector< PointCloud > &data_in, std::vector< PointCloud > &data_out, const std::string &sensor_frame)
virtual	~SelfFilter (void)
	Destructor to clean up.
Protected Attributes
bool	invert_
bool	keep_organized_
double	min_sensor_dist_
ros::NodeHandle	nh_
std::string	sensor_frame_
robot_self_filter::SelfMask < PointT > *	sm_
tf::TransformListener	tf_

Detailed Description

template<typename PointT>
class filters::SelfFilter< PointT >

A filter to remove parts of the robot seen in a pointcloud.

Definition at line 45 of file self_see_filter.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> filters::SelfFilter< PointT >::PointCloud

Definition at line 49 of file self_see_filter.h.

Constructor & Destructor Documentation

template<typename PointT>

filters::SelfFilter< PointT >::SelfFilter ( ros::NodeHandle nh ) [inline]

Construct the filter.

Definition at line 51 of file self_see_filter.h.

template<typename PointT>

virtual filters::SelfFilter< PointT >::~SelfFilter ( void ) [inline, virtual]

Destructor to clean up.

Definition at line 111 of file self_see_filter.h.

Member Function Documentation

template<typename PointT>

virtual bool filters::SelfFilter< PointT >::configure ( void ) [inline, virtual]

Implements filters::FilterBase< pcl::PointCloud< PointT > >.

Definition at line 116 of file self_see_filter.h.

template<typename PointT>

void filters::SelfFilter< PointT >::fillDiff	(	const PointCloud &	data_in,
		const std::vector< int > &	keep,
		PointCloud &	data_out
	)		`[inline]`

Definition at line 173 of file self_see_filter.h.

template<typename PointT>

void filters::SelfFilter< PointT >::fillResult	(	const PointCloud &	data_in,
		const std::vector< int > &	keep,
		PointCloud &	data_out
	)		`[inline]`

Definition at line 192 of file self_see_filter.h.

template<typename PointT>

robot_self_filter::SelfMask<PointT>* filters::SelfFilter< PointT >::getSelfMask ( ) [inline]

Definition at line 238 of file self_see_filter.h.

template<typename PointT>

void filters::SelfFilter< PointT >::setSensorFrame ( const std::string & frame ) [inline]

Definition at line 242 of file self_see_filter.h.

template<typename PointT>

virtual bool filters::SelfFilter< PointT >::update	(	const PointCloud &	data_in,
		PointCloud &	data_out
	)		`[inline, virtual]`

Update the filter and return the data seperately.

Parameters:

data_in	T array with length width
data_out	T array with length width

Definition at line 138 of file self_see_filter.h.

template<typename PointT>

virtual bool filters::SelfFilter< PointT >::update	(	const PointCloud &	data_in,
		PointCloud &	data_out,
		PointCloud &	data_diff
	)		`[inline, virtual]`

Update the filter and return the data seperately.

Parameters:

data_in	T array with length width
data_out	T array with length width

Definition at line 160 of file self_see_filter.h.

template<typename PointT>

virtual bool filters::SelfFilter< PointT >::update	(	const std::vector< PointCloud > &	data_in,
		std::vector< PointCloud > &	data_out
	)		`[inline, virtual]`

Definition at line 228 of file self_see_filter.h.

template<typename PointT>

bool filters::SelfFilter< PointT >::updateWithSensorFrame	(	const PointCloud &	data_in,
		PointCloud &	data_out,
		const std::string &	sensor_frame
	)		`[inline]`

Definition at line 128 of file self_see_filter.h.

template<typename PointT>

bool filters::SelfFilter< PointT >::updateWithSensorFrame	(	const PointCloud &	data_in,
		PointCloud &	data_out,
		PointCloud &	data_diff,
		const std::string &	sensor_frame
	)		`[inline]`

Definition at line 150 of file self_see_filter.h.

template<typename PointT>

virtual bool filters::SelfFilter< PointT >::updateWithSensorFrame	(	const std::vector< PointCloud > &	data_in,
		std::vector< PointCloud > &	data_out,
		const std::string &	sensor_frame
	)		`[inline, virtual]`