radius_outlier_removal.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id: radius_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $
35  *
36  */
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:57
virtual bool child_init(ros::NodeHandle &nh, bool &has_service)
Child initialization routine.
sensor_msgs::PointCloud2 PointCloud2
Definition: filter.h:60
RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain...
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 toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
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 Wed Jun 5 2019 19:52:52