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copy cloud with header in filtre

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-04-30 18:00:41 +02:00
parent c36ff5a5aa
commit 91c4cf5e77
1 changed files with 17 additions and 4 deletions
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21
src/filtre.cpp
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@ -3,7 +3,8 @@
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef pcl::PointXYZRGB Point;
typedef pcl::PointCloud<Point> PointCloud;
class Callback {
public:
@ -11,10 +12,11 @@ class Callback {
operator()(const PointCloud::ConstPtr& msg)
{
PointCloud::Ptr pcl(new PointCloud());
for (int i = 0; i < msg->points.size(); ++i)
copy_info(msg, pcl);
BOOST_FOREACH (const Point& pt, msg->points)
{
if (msg->points[i].z < zmax)
pcl->points.push_back(msg->points[i]);
if (pt.z < zmax)
pcl->push_back(pt);
}
publisher.publish(pcl);
}
@ -25,6 +27,17 @@ class Callback {
private:
ros::Publisher publisher;
float zmax;
inline
void
copy_info(const PointCloud::ConstPtr& a,
PointCloud::Ptr b)
{
b->header = a->header;
b->sensor_origin_ = a->sensor_origin_;
b->sensor_orientation_ = a->sensor_orientation_;
b->is_dense = a->is_dense;
}
};
int