Filter represents the base filter class. Some generic 3D operations that are applicable to all filters are defined here as static methods. More...

#include <filter.h>

Inheritance diagram for pcl_ros::Filter:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef sensor_msgs::PointCloud2	PointCloud2
Public Member Functions
	Filter ()
Protected Member Functions
virtual bool	child_init (ros::NodeHandle &nh, bool &has_service)
	Child initialization routine.
void	computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices)
	Call the child filter () method, optionally transform the result, and publish it.
virtual void	filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)=0
	Virtual abstract filter method. To be implemented by every child.
virtual void	onInit ()
	Nodelet initialization routine.
Protected Attributes
std::string	filter_field_name_
	The desired user filter field name.
double	filter_limit_max_
	The maximum allowed filter value a point will be considered from.
double	filter_limit_min_
	The minimum allowed filter value a point will be considered from.
bool	filter_limit_negative_
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false.
boost::mutex	mutex_
	Internal mutex.
ros::Subscriber	sub_input_
	The input PointCloud subscriber.
message_filters::Subscriber < PointCloud2 >	sub_input_filter_
	The message filter subscriber for PointCloud2.
std::string	tf_input_frame_
	The input TF frame the data should be transformed into, if input.header.frame_id is different.
std::string	tf_input_orig_frame_
	The original data input TF frame.
std::string	tf_output_frame_
	The output TF frame the data should be transformed into, if input.header.frame_id is different.
Private Member Functions
virtual void	config_callback (pcl_ros::FilterConfig &config, uint32_t level)
	Dynamic reconfigure service callback.
void	input_indices_callback (const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices)
	PointCloud2 + Indices data callback.
Private Attributes
boost::shared_ptr < dynamic_reconfigure::Server < pcl_ros::FilterConfig > >	srv_
	Pointer to a dynamic reconfigure service.
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ApproximateTime < PointCloud2, PointIndices > > >	sync_input_indices_a_
boost::shared_ptr < message_filters::Synchronizer < sync_policies::ExactTime < PointCloud2, PointIndices > > >	sync_input_indices_e_
	Synchronized input, and indices.

Detailed Description

Filter represents the base filter class. Some generic 3D operations that are applicable to all filters are defined here as static methods.

Author:: Radu Bogdan Rusu

Definition at line 57 of file filter.h.

Member Typedef Documentation

typedef boost::shared_ptr<const std::vector<int> > pcl_ros::Filter::IndicesConstPtr

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 63 of file filter.h.

typedef boost::shared_ptr<std::vector<int> > pcl_ros::Filter::IndicesPtr

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 62 of file filter.h.

typedef sensor_msgs::PointCloud2 pcl_ros::Filter::PointCloud2

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 60 of file filter.h.

Constructor & Destructor Documentation

pcl_ros::Filter::Filter ( ) [inline]

Definition at line 65 of file filter.h.

Member Function Documentation

virtual bool pcl_ros::Filter::child_init	(	ros::NodeHandle &	nh,
		bool &	has_service
	)		`[inline, protected, virtual]`

Child initialization routine.

Parameters:

nh	ROS node handle
has_service	set to true if the child has a Dynamic Reconfigure service

Reimplemented in pcl_ros::StatisticalOutlierRemoval, pcl_ros::CropBox, pcl_ros::ExtractIndices, pcl_ros::RadiusOutlierRemoval, pcl_ros::PassThrough, and pcl_ros::VoxelGrid.

Definition at line 102 of file filter.h.

void Filter::computePublish	(	const PointCloud2::ConstPtr &	input,
		const IndicesPtr &	indices
	)		`[protected]`

Call the child filter () method, optionally transform the result, and publish it.

Parameters:

input	the input point cloud dataset.
indices	a pointer to the vector of point indices to use.

Definition at line 64 of file filter.cpp.

void Filter::config_callback	(	pcl_ros::FilterConfig &	config,
		uint32_t	level
	)		`[private, virtual]`

Dynamic reconfigure service callback.

Reimplemented in pcl_ros::PassThrough.

Definition at line 159 of file filter.cpp.

virtual void pcl_ros::Filter::filter	(	const PointCloud2::ConstPtr &	input,
		const IndicesPtr &	indices,
		PointCloud2 &	output
	)		`[protected, pure virtual]`