passthrough.h
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34  * $Id: passthrough.h 35876 2011-02-09 01:04:36Z rusu $
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37 
38 #ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
39 #define PCL_ROS_FILTERS_PASSTHROUGH_H_
40 
41 // PCL includes
42 #include <pcl/filters/passthrough.h>
43 #include "pcl_ros/filters/filter.h"
44 
45 namespace pcl_ros
46 {
51  class PassThrough : public Filter
52  {
53  protected:
56 
62  inline void
63  filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
64  PointCloud2 &output)
65  {
66  boost::mutex::scoped_lock lock (mutex_);
67  pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
68  pcl_conversions::toPCL (*(input), *(pcl_input));
69  impl_.setInputCloud (pcl_input);
70  impl_.setIndices (indices);
71  pcl::PCLPointCloud2 pcl_output;
72  impl_.filter (pcl_output);
73  pcl_conversions::moveFromPCL(pcl_output, output);
74  }
75 
80  bool
81  child_init (ros::NodeHandle &nh, bool &has_service);
82 
87  void
88  config_callback (pcl_ros::FilterConfig &config, uint32_t level);
89 
90  private:
92  pcl::PassThrough<pcl::PCLPointCloud2> impl_;
93  public:
94  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
95  };
96 }
97 
98 #endif //#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
bool child_init(ros::NodeHandle &nh, bool &has_service)
Child initialization routine.
Definition: passthrough.cpp:43
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::FilterConfig > > srv_
Pointer to a dynamic reconfigure service.
Definition: passthrough.h:55
Filter represents the base filter class. Some generic 3D operations that are applicable to all filter...
Definition: filter.h:56
pcl::IndicesPtr IndicesPtr
Definition: filter.h:61
sensor_msgs::PointCloud2 PointCloud2
Definition: filter.h:59
void filter(const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)
Call the actual filter.
Definition: passthrough.h:63
pcl::PassThrough< pcl::PCLPointCloud2 > impl_
The PCL filter implementation used.
Definition: passthrough.h:92
boost::mutex mutex_
Internal mutex.
Definition: filter.h:94
void toPCL(const ros::Time &stamp, std::uint64_t &pcl_stamp)
PassThrough uses the base Filter class methods to pass through all data that satisfies the user given...
Definition: passthrough.h:51
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
void config_callback(pcl_ros::FilterConfig &config, uint32_t level)
Dynamic reconfigure service callback.
Definition: passthrough.cpp:56


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