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]

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 Types inherited from pcl_ros::PCLNodelet
typedef boost::shared_ptr< const std::vector< int > >	IndicesConstPtr

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

typedef pcl_msgs::ModelCoefficients	ModelCoefficients

typedef ModelCoefficients::ConstPtr	ModelCoefficientsConstPtr

typedef ModelCoefficients::Ptr	ModelCoefficientsPtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef sensor_msgs::PointCloud2	PointCloud2

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointCloud::Ptr	PointCloudPtr

typedef pcl_msgs::PointIndices	PointIndices

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

Public Member Functions
	Filter ()

Public Member Functions inherited from pcl_ros::PCLNodelet
	PCLNodelet ()
	Empty constructor. More...

Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
virtual bool	child_init (ros::NodeHandle &nh, bool &has_service)
	Child initialization routine. More...

void	computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices)
	Call the child filter () method, optionally transform the result, and publish it. More...

virtual void	filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)=0
	Virtual abstract filter method. To be implemented by every child. More...

virtual void	onInit ()
	Nodelet initialization routine. More...

virtual void	subscribe ()
	Lazy transport subscribe routine. More...

virtual void	unsubscribe ()
	Lazy transport unsubscribe routine. More...

Protected Member Functions inherited from pcl_ros::PCLNodelet
bool	isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointIndicesConstPtr &indices, const std::string &topic_name="indices")
	Test whether a given PointIndices message is "valid" (i.e., has values). More...

bool	isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name="model")
	Test whether a given ModelCoefficients message is "valid" (i.e., has values). More...

Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
std::string	filter_field_name_
	The desired user filter field name. More...

double	filter_limit_max_
	The maximum allowed filter value a point will be considered from. More...

double	filter_limit_min_
	The minimum allowed filter value a point will be considered from. More...

bool	filter_limit_negative_
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false. More...

boost::mutex	mutex_
	Internal mutex. More...

ros::Subscriber	sub_input_
	The input PointCloud subscriber. More...

message_filters::Subscriber< PointCloud2 >	sub_input_filter_

std::string	tf_input_frame_
	The input TF frame the data should be transformed into, if input.header.frame_id is different. More...

std::string	tf_input_orig_frame_
	The original data input TF frame. More...

std::string	tf_output_frame_
	The output TF frame the data should be transformed into, if input.header.frame_id is different. More...

Protected Attributes inherited from pcl_ros::PCLNodelet
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default). More...

bool	latched_indices_
	Set to true if the indices topic is latched. More...

int	max_queue_size_
	The maximum queue size (default: 3). More...

ros::Publisher	pub_output_
	The output PointCloud publisher. More...

message_filters::Subscriber< PointIndices >	sub_indices_filter_
	The message filter subscriber for PointIndices. More...

message_filters::Subscriber< PointCloud >	sub_input_filter_
	The message filter subscriber for PointCloud2. More...

tf::TransformListener	tf_listener_
	TF listener object. More...

bool	use_indices_
	Set to true if point indices are used. More...

Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

bool	lazy_

boost::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Private Member Functions
virtual void	config_callback (pcl_ros::FilterConfig &config, uint32_t level)
	Dynamic reconfigure service callback. More...

void	input_indices_callback (const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices)
	PointCloud2 + Indices data callback. More...

Private Attributes
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::FilterConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

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. More...

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

Definition at line 63 of file filter.h.

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

Definition at line 62 of file filter.h.

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

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
	)

inlineprotectedvirtual

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
	)

privatevirtual

Dynamic reconfigure service callback.

Reimplemented in pcl_ros::PassThrough.

Definition at line 177 of file filter.cpp.

virtual void pcl_ros::Filter::filter	(	const PointCloud2::ConstPtr &	input,
		const IndicesPtr &	indices,
		PointCloud2 &	output
	)

protectedpure virtual

Virtual abstract filter method. To be implemented by every child.

Parameters

input	the input point cloud dataset.
indices	a pointer to the vector of point indices to use.
output	the resultant filtered PointCloud2

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

void Filter::input_indices_callback	(	const PointCloud2::ConstPtr &	cloud,
		const PointIndicesConstPtr &	indices
	)

private

PointCloud2 + Indices data callback.

DEBUG

Definition at line 194 of file filter.cpp.

void Filter::onInit ( )

protectedvirtual

Nodelet initialization routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::ProjectInliers.

Definition at line 149 of file filter.cpp.

void Filter::subscribe ( )

protectedvirtual

Lazy transport subscribe routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::ProjectInliers.

Definition at line 107 of file filter.cpp.

void Filter::unsubscribe ( )

protectedvirtual

Lazy transport unsubscribe routine.

Reimplemented from pcl_ros::PCLNodelet.

Reimplemented in pcl_ros::ProjectInliers.

Definition at line 136 of file filter.cpp.

Member Data Documentation

std::string pcl_ros::Filter::filter_field_name_

protected

The desired user filter field name.

Definition at line 74 of file filter.h.

double pcl_ros::Filter::filter_limit_max_

protected

The maximum allowed filter value a point will be considered from.

Definition at line 80 of file filter.h.

double pcl_ros::Filter::filter_limit_min_

protected

The minimum allowed filter value a point will be considered from.

Definition at line 77 of file filter.h.

bool pcl_ros::Filter::filter_limit_negative_

protected

Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false.

Definition at line 83 of file filter.h.

boost::mutex pcl_ros::Filter::mutex_

protected

Internal mutex.

Definition at line 95 of file filter.h.

boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::FilterConfig> > pcl_ros::Filter::srv_

private

Pointer to a dynamic reconfigure service.

Definition at line 138 of file filter.h.

ros::Subscriber pcl_ros::Filter::sub_input_

protected

The input PointCloud subscriber.

Definition at line 69 of file filter.h.

message_filters::Subscriber<PointCloud2> pcl_ros::Filter::sub_input_filter_

protected

Definition at line 71 of file filter.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices> > > pcl_ros::Filter::sync_input_indices_a_

private

Definition at line 142 of file filter.h.

boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices> > > pcl_ros::Filter::sync_input_indices_e_

private

Synchronized input, and indices.

Definition at line 141 of file filter.h.

std::string pcl_ros::Filter::tf_input_frame_

protected

The input TF frame the data should be transformed into, if input.header.frame_id is different.

Definition at line 86 of file filter.h.

std::string pcl_ros::Filter::tf_input_orig_frame_

protected

The original data input TF frame.

Definition at line 89 of file filter.h.

std::string pcl_ros::Filter::tf_output_frame_

protected

The output TF frame the data should be transformed into, if input.header.frame_id is different.

Definition at line 92 of file filter.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation