#include <filtering.h>
Public Member Functions | |
void | filter (const sensor_msgs::PointCloud2Ptr &msg) |
Callback function for subscriber. More... | |
filtering () | |
Class constructor. More... | |
sensor_msgs::PointCloud2 | voxel_filter (const sensor_msgs::PointCloud2Ptr &msg_in, double voxel_size) |
aplies a voxel grid on a sensor msg More... | |
~filtering () | |
Class destructor. More... | |
Public Attributes | |
PointCloud< T > | convex_hull |
The convex hull for cloud extraction. More... | |
string | frame_id |
The frame_id to transform. More... | |
double | max_z |
Maximum value for Z pointcloud. More... | |
double | min_z |
Minimum value for Z pointcloud. More... | |
PointCloud< T > | pc_in |
Point cloud to filter. More... | |
PointCloud< T > | pc_out |
Point cloud filtered. More... | |
ros::Publisher * | pub_ptr |
Pointer to pointcloud publisher. More... | |
tf::TransformListener * | transform_listener_ptr |
Pointer to a transform listener. More... | |
double | voxel_size |
Voxel grid size. More... | |
A simple class to voxelize a pointcloud and cutt within a volume
Definition at line 61 of file filtering.h.
Class constructor.
Definition at line 66 of file filtering.h.
Class destructor.
Definition at line 71 of file filtering.h.
void filtering< T >::filter | ( | const sensor_msgs::PointCloud2Ptr & | msg | ) |
Callback function for subscriber.
Definition at line 38 of file filtering.hpp.
sensor_msgs::PointCloud2 filtering< T >::voxel_filter | ( | const sensor_msgs::PointCloud2Ptr & | msg_in, |
double | voxel_size | ||
) |
aplies a voxel grid on a sensor msg
[in] | msg_in | |
[in] | voxel_size |
Definition at line 79 of file filtering.hpp.
PointCloud<T> filtering< T >::convex_hull |
The convex hull for cloud extraction.
Definition at line 84 of file filtering.h.
string filtering< T >::frame_id |
The frame_id to transform.
Definition at line 102 of file filtering.h.
double filtering< T >::max_z |
Maximum value for Z pointcloud.
Definition at line 90 of file filtering.h.
double filtering< T >::min_z |
Minimum value for Z pointcloud.
Definition at line 93 of file filtering.h.
PointCloud<T> filtering< T >::pc_in |
Point cloud to filter.
Definition at line 73 of file filtering.h.
PointCloud<T> filtering< T >::pc_out |
Point cloud filtered.
Definition at line 81 of file filtering.h.
ros::Publisher* filtering< T >::pub_ptr |
Pointer to pointcloud publisher.
Definition at line 96 of file filtering.h.
tf::TransformListener* filtering< T >::transform_listener_ptr |
Pointer to a transform listener.
Definition at line 99 of file filtering.h.
double filtering< T >::voxel_size |
Voxel grid size.
Definition at line 87 of file filtering.h.