project_inliers.h
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37 
38 #ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
39 #define PCL_ROS_FILTERS_PROJECT_INLIERS_H_
40 
41 // PCL includes
42 #include <pcl/filters/project_inliers.h>
43 #include "pcl_ros/filters/filter.h"
44 
46 
47 namespace pcl_ros
48 {
50 
56  class ProjectInliers : public Filter
57  {
58  public:
60 
61  protected:
67  inline void
68  filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
69  PointCloud2 &output)
70  {
71  pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
72  pcl_conversions::toPCL (*(input), *(pcl_input));
73  impl_.setInputCloud (pcl_input);
74  impl_.setIndices (indices);
75  pcl::ModelCoefficients::Ptr pcl_model(new pcl::ModelCoefficients);
76  pcl_conversions::toPCL(*(model_), *(pcl_model));
77  impl_.setModelCoefficients (pcl_model);
78  pcl::PCLPointCloud2 pcl_output;
79  impl_.filter (pcl_output);
80  pcl_conversions::moveFromPCL(pcl_output, output);
81  }
82 
83  private:
86 
89 
94  pcl::ProjectInliers<pcl::PCLPointCloud2> impl_;
95 
97  virtual void
98  onInit ();
99 
101  void subscribe ();
102  void unsubscribe ();
103 
105  void
106  input_indices_model_callback (const PointCloud2::ConstPtr &cloud,
107  const PointIndicesConstPtr &indices,
108  const ModelCoefficientsConstPtr &model);
109  public:
110  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
111  };
112 }
113 
114 #endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
message_filters::Subscriber< ModelCoefficients > sub_model_
The message filter subscriber for model coefficients.
pcl::ProjectInliers< pcl::PCLPointCloud2 > impl_
The PCL filter implementation used.
void unsubscribe()
Lazy transport unsubscribe routine.
Filter represents the base filter class. Some generic 3D operations that are applicable to all filter...
Definition: filter.h:56
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ApproximateTime< PointCloud2, PointIndices, ModelCoefficients > > > sync_input_indices_model_a_
pcl::IndicesPtr IndicesPtr
Definition: filter.h:61
void filter(const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)
Call the actual filter.
boost::shared_ptr< message_filters::Synchronizer< sync_policies::ExactTime< PointCloud2, PointIndices, ModelCoefficients > > > sync_input_indices_model_e_
Synchronized input, indices, and model coefficients.
sensor_msgs::PointCloud2 PointCloud2
Definition: filter.h:59
virtual void onInit()
Nodelet initialization routine.
void toPCL(const ros::Time &stamp, std::uint64_t &pcl_stamp)
ModelCoefficientsConstPtr model_
A pointer to the vector of model coefficients.
ModelCoefficients::ConstPtr ModelCoefficientsConstPtr
Definition: pcl_nodelet.h:88
void input_indices_model_callback(const PointCloud2::ConstPtr &cloud, const PointIndicesConstPtr &indices, const ModelCoefficientsConstPtr &model)
PointCloud2 + Indices + Model data callback.
void subscribe()
NodeletLazy connection routine.
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_nodelet.h:84
ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a sepa...


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Feb 16 2023 03:08:02