crop_box.h
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00001 /*
00002  * 
00003  *  Software License Agreement (BSD License)
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00035  *  $Id: cropbox.cpp 
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00038 
00039 #ifndef PCL_ROS_FILTERS_CROPBOX_H_
00040 #define PCL_ROS_FILTERS_CROPBOX_H_
00041 
00042 // PCL includes
00043 #include <pcl/filters/crop_box.h>
00044 #include "pcl_ros/filters/filter.h"
00045 
00046 // Dynamic reconfigure
00047 #include "pcl_ros/CropBoxConfig.h"
00048 
00049 namespace pcl_ros
00050 {
00057   class CropBox : public Filter
00058   {
00059     protected:
00061       boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > srv_; // TODO
00062 
00068       inline void
00069       filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
00070               PointCloud2 &output)
00071       {
00072         boost::mutex::scoped_lock lock (mutex_);
00073         pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
00074         pcl_conversions::toPCL (*(input), *(pcl_input));
00075         impl_.setInputCloud (pcl_input);
00076         impl_.setIndices (indices);
00077         pcl::PCLPointCloud2 pcl_output;
00078         impl_.filter (pcl_output);
00079         pcl_conversions::moveFromPCL(pcl_output, output);
00080       }
00081 
00086       bool 
00087       child_init (ros::NodeHandle &nh, bool &has_service);
00088       
00093       void 
00094       config_callback (pcl_ros::CropBoxConfig &config, uint32_t level);
00095 
00096     private:
00098       pcl::CropBox<pcl::PCLPointCloud2> impl_;
00099     public:
00100       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00101   };
00102 }
00103 
00104 #endif  //#ifndef PCL_ROS_FILTERS_CROPBOX_H_


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu May 5 2016 04:16:43