#include <pcdfilter_pa_ros.h>
Public Member Functions | |
| sensor_msgs::PointCloud2Ptr | applyMasktoCloud (const sensor_msgs::PointCloud2ConstPtr cloud, const std::vector< bool > mask) const |
| sensor_msgs::PointCloud2Ptr | convertCloud (const sensor_msgs::LaserScanConstPtr &msg) const |
| converts the given laserscan to a pointcloud More... | |
| sensor_msgs::PointCloud2Ptr | convertCloud (const sensor_msgs::PointCloudConstPtr &msg) const |
| converts the given pointcloud to newer format More... | |
| const cv::Mat | convertCloudToOpencv (const sensor_msgs::PointCloud2ConstPtr &msg, const bool force_copy=false) const |
| cPcdFilterPaRos () | |
| default constructor More... | |
| bool | filterCloud (const sensor_msgs::PointCloud2ConstPtr &msg, sensor_msgs::PointCloud2Ptr &result) |
| filters the given pointcloud More... | |
| bool | filterCloud (sensor_msgs::PointCloud2Ptr &result) |
| filters the buffered pointcloud More... | |
| bool | updateTf (const tf::TransformListener &tf_listener) |
| bool | updateTf (const tf::TransformListener &tf_listener, const std::string base_frame, const ros::Time time=ros::Time::now()) |
| ~cPcdFilterPaRos () | |
| default destructor More... | |
 Public Member Functions inherited from cPcdFilterPa | |
| cPcdFilterPa () | |
| default constructor More... | |
| std::vector< int > | pointcloudFilter (const cv::Mat &pointcloud, std::vector< bool > &mask) const |
| ~cPcdFilterPa () | |
| default destructor More... | |
Public Attributes | |
| cPcdFilterPaRosFilters | filters_ |
| object for filter handling More... | |
| cPcdFilterPaRosThrottle | input_throttle_ |
| object for input throttling - e.g. only every 5th pointcloud More... | |
| sensor_msgs::PointCloud2ConstPtr | pcd_buffered_msg_ |
| cv::Mat | pcd_buffered_points_ |
| cPcdFilterPaRosParameter | rosparams_ |
| ros specific parameter More... | |
| Public Attributes inherited from cPcdFilterPa | |
| cPcdFilterPaParameter | params_ |
| specific parameter More... | |
Detailed Description
Definition at line 71 of file pcdfilter_pa_ros.h.
Constructor & Destructor Documentation
◆ cPcdFilterPaRos()
| cPcdFilterPaRos::cPcdFilterPaRos | ( | ) |
default constructor
Definition at line 54 of file pcdfilter_pa_ros.cpp.
◆ ~cPcdFilterPaRos()
| cPcdFilterPaRos::~cPcdFilterPaRos | ( | ) |
default destructor
Definition at line 58 of file pcdfilter_pa_ros.cpp.
Member Function Documentation
◆ applyMasktoCloud()
| sensor_msgs::PointCloud2Ptr cPcdFilterPaRos::applyMasktoCloud | ( | const sensor_msgs::PointCloud2ConstPtr | cloud, |
| const std::vector< bool > | mask | ||
| ) | const |
internal function applys the mask to the pointcloud and creates a new pointcloud to store the results
Definition at line 313 of file pcdfilter_pa_ros.cpp.
◆ convertCloud() [1/2]
| sensor_msgs::PointCloud2Ptr cPcdFilterPaRos::convertCloud | ( | const sensor_msgs::LaserScanConstPtr & | msg | ) | const |
converts the given laserscan to a pointcloud
Definition at line 72 of file pcdfilter_pa_ros.cpp.
◆ convertCloud() [2/2]
| sensor_msgs::PointCloud2Ptr cPcdFilterPaRos::convertCloud | ( | const sensor_msgs::PointCloudConstPtr & | msg | ) | const |
converts the given pointcloud to newer format
Definition at line 62 of file pcdfilter_pa_ros.cpp.
◆ convertCloudToOpencv()
| const cv::Mat cPcdFilterPaRos::convertCloudToOpencv | ( | const sensor_msgs::PointCloud2ConstPtr & | msg, |
| const bool | force_copy = false |
||
| ) | const |
internal function extracts the x,y and z coordinates to opencv matrix of float if force_copy is set the returned matrix is never pointing to the original pointcloud message
Definition at line 190 of file pcdfilter_pa_ros.cpp.
◆ filterCloud() [1/2]
| bool cPcdFilterPaRos::filterCloud | ( | const sensor_msgs::PointCloud2ConstPtr & | msg, |
| sensor_msgs::PointCloud2Ptr & | result | ||
| ) |
filters the given pointcloud
Definition at line 130 of file pcdfilter_pa_ros.cpp.
◆ filterCloud() [2/2]
| bool cPcdFilterPaRos::filterCloud | ( | sensor_msgs::PointCloud2Ptr & | result | ) |
filters the buffered pointcloud
Definition at line 158 of file pcdfilter_pa_ros.cpp.
◆ updateTf() [1/2]
| bool cPcdFilterPaRos::updateTf | ( | const tf::TransformListener & | tf_listener | ) |
updates the internal transformations for a buffered pointcloud this should be done for each pointcloud
Definition at line 118 of file pcdfilter_pa_ros.cpp.
◆ updateTf() [2/2]
| bool cPcdFilterPaRos::updateTf | ( | const tf::TransformListener & | tf_listener, |
| const std::string | base_frame, | ||
| const ros::Time | time = ros::Time::now() |
||
| ) |
updates the internal transformations this should be done for each pointcloud
Definition at line 100 of file pcdfilter_pa_ros.cpp.
Member Data Documentation
◆ filters_
| cPcdFilterPaRosFilters cPcdFilterPaRos::filters_ |
object for filter handling
Definition at line 168 of file pcdfilter_pa_ros.h.
◆ input_throttle_
| cPcdFilterPaRosThrottle cPcdFilterPaRos::input_throttle_ |
object for input throttling - e.g. only every 5th pointcloud
Definition at line 165 of file pcdfilter_pa_ros.h.
◆ pcd_buffered_msg_
| sensor_msgs::PointCloud2ConstPtr cPcdFilterPaRos::pcd_buffered_msg_ |
frame id of last pointcloud (usage depends on flag rosparams_.buffered_pointcloud)
Definition at line 178 of file pcdfilter_pa_ros.h.
◆ pcd_buffered_points_
| cv::Mat cPcdFilterPaRos::pcd_buffered_points_ |
buffered pointcloud (usage depends on flag rosparams_.buffered_pointcloud)
Definition at line 175 of file pcdfilter_pa_ros.h.
◆ rosparams_
| cPcdFilterPaRosParameter cPcdFilterPaRos::rosparams_ |
ros specific parameter
Definition at line 171 of file pcdfilter_pa_ros.h.
The documentation for this class was generated from the following files: