radius_outlier_removal.h
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37 
38 #ifndef PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
39 #define PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
40 
41 // PCL includes
42 #include <pcl/filters/radius_outlier_removal.h>
43 #include "pcl_ros/filters/filter.h"
44 
45 // Dynamic reconfigure
46 #include "pcl_ros/RadiusOutlierRemovalConfig.h"
47 
48 namespace pcl_ros
49 {
56  {
57  protected:
60 
66  inline void
67  filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices,
68  PointCloud2 &output)
69  {
70  pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
71  pcl_conversions::toPCL (*(input), *(pcl_input));
72  impl_.setInputCloud (pcl_input);
73  impl_.setIndices (indices);
74  pcl::PCLPointCloud2 pcl_output;
75  impl_.filter (pcl_output);
76  pcl_conversions::moveFromPCL(pcl_output, output);
77  }
78 
83  virtual inline bool child_init (ros::NodeHandle &nh, bool &has_service);
84 
89  void config_callback (pcl_ros::RadiusOutlierRemovalConfig &config, uint32_t level);
90 
91 
92  private:
94  pcl::RadiusOutlierRemoval<pcl::PCLPointCloud2> impl_;
95  public:
96  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
97  };
98 }
99 
100 #endif //#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_
pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 > impl_
The PCL filter implementation used.
void filter(const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)
Call the actual filter.
Filter represents the base filter class. Some generic 3D operations that are applicable to all filter...
Definition: filter.h:56
virtual bool child_init(ros::NodeHandle &nh, bool &has_service)
Child initialization routine.
pcl::IndicesPtr IndicesPtr
Definition: filter.h:61
sensor_msgs::PointCloud2 PointCloud2
Definition: filter.h:59
RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain...
void toPCL(const ros::Time &stamp, std::uint64_t &pcl_stamp)
void moveFromPCL(pcl::PCLImage &pcl_image, sensor_msgs::Image &image)
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::RadiusOutlierRemovalConfig > > srv_
Pointer to a dynamic reconfigure service.
void config_callback(pcl_ros::RadiusOutlierRemovalConfig &config, uint32_t level)
Dynamic reconfigure callback.


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