laser_to_pc.cpp

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#include <pointcloud_segmentation/laser_to_pc.h>

void laser_to_pc::filter (const sensor_msgs::LaserScanPtr& msg)
{
    PointCloud<PointXYZ> laser_cloud;
    sensor_msgs::PointCloud2 laser;  // laser pointcloud out
    laser.header.frame_id=msg->header.frame_id;
    tf::TransformListener listener;  // not sure why i need this but it is ok :-)
        
    tf::StampedTransform transform;
    try
    {
        listener_ptr->lookupTransform(frame_id, msg->header.frame_id, ros::Time(0), transform);
    }
    catch (tf::TransformException ex)
    {
        ROS_ERROR("%s",ex.what());
    }
        
    laser_geometry::LaserProjection projector_; 
    projector_.transformLaserScanToPointCloud(msg->header.frame_id,*msg,laser,listener);
    
    fromROSMsg(laser,laser_cloud);
    laser_cloud.header.frame_id=msg->header.frame_id;
    
    // Transform laser scan
    PointCloud<PointXYZ> laser_cloud_transformed;
    pcl_ros::transformPointCloud (laser_cloud,laser_cloud_transformed,transform);
    
    // Cut the cloud
    points_from_volume<PointXYZ> pfv;
    PointCloud<PointXYZ> cloud_cut;
    cloud_cut.header.frame_id=frame_id;
    convex_hull.header.frame_id=frame_id;
    laser_cloud_transformed.header.frame_id=frame_id;
    pfv.set_convex_hull(convex_hull);
    pfv.convexhull_function(laser_cloud_transformed, max_z,min_z, false);
    cloud_cut=pfv.get_pc_in_volume();
        
    sensor_msgs::PointCloud2 msg_laser;
    toROSMsg(cloud_cut, msg_laser);
    
    // Publish the result
    pub_ptr->publish(msg_laser);
    
};