statistical_outlier_removal.h
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37 
38 #ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
39 #define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
40 
41 // PCL includes
42 #include <pcl/filters/statistical_outlier_removal.h>
43 #include "pcl_ros/filters/filter.h"
44 
45 // Dynamic reconfigure
46 #include "pcl_ros/StatisticalOutlierRemovalConfig.h"
47 
48 namespace pcl_ros
49 {
62  {
63  protected:
66 
72  inline void
73  filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
74  PointCloud2 &output)
75  {
76  boost::mutex::scoped_lock lock (mutex_);
77  pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
78  pcl_conversions::toPCL(*(input), *(pcl_input));
79  impl_.setInputCloud (pcl_input);
80  impl_.setIndices (indices);
81  pcl::PCLPointCloud2 pcl_output;
82  impl_.filter (pcl_output);
83  pcl_conversions::moveFromPCL(pcl_output, output);
84  }
85 
90  bool child_init (ros::NodeHandle &nh, bool &has_service);
91 
96  void config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level);
97 
98  private:
100  pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> impl_;
101  public:
102  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103  };
104 }
105 
106 #endif //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_
pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 > impl_
The PCL filter implementation used.
void config_callback(pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level)
Dynamic reconfigure callback.
Filter represents the base filter class. Some generic 3D operations that are applicable to all filter...
Definition: filter.h:57
bool child_init(ros::NodeHandle &nh, bool &has_service)
Child initialization routine.
sensor_msgs::PointCloud2 PointCloud2
Definition: filter.h:60
boost::mutex mutex_
Internal mutex.
Definition: filter.h:95
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more information check:
void filter(const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)
Call the actual filter.
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::StatisticalOutlierRemovalConfig > > srv_
Pointer to a dynamic reconfigure service.
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18