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Move filter() function implementation for all filters (#405)

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This commit is contained in:
Andrew Symington
2023-02-22 11:20:09 -08:00
committed by GitHub
parent b52e7a7ab1
commit 3966b71ad6
14 changed files with 111 additions and 79 deletions
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pcl_ros/include/pcl_ros/filters/crop_box.hpp
+1 -11
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@@ -63,17 +63,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output) override
{
std::lock_guard<std::mutex> lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
/** \brief Parameter callback
* \param params parameter values to set
pcl_ros/include/pcl_ros/filters/extract_indices.hpp
+1 -11
View File
@@ -61,17 +61,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output)
{
std::lock_guard<std::mutex> lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
/** \brief Parameter callback
* \param params parameter values to set
pcl_ros/include/pcl_ros/filters/passthrough.hpp
+1 -11
View File
@@ -60,17 +60,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output) override
{
std::lock_guard<std::mutex> lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
/** \brief Parameter callback
* \param params parameter values to set
pcl_ros/include/pcl_ros/filters/project_inliers.hpp
+1 -13
View File
@@ -68,19 +68,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output)
{
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::ModelCoefficients::Ptr pcl_model(new pcl::ModelCoefficients);
pcl_conversions::toPCL(*(model_), *(pcl_model));
impl_.setModelCoefficients(pcl_model);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
private:
/** \brief A pointer to the vector of model coefficients. */
pcl_ros/include/pcl_ros/filters/radius_outlier_removal.hpp
+1 -11
View File
@@ -61,17 +61,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output) override
{
std::lock_guard<std::mutex> lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
/** \brief Parameter callback
* \param params parameter values to set
pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.hpp
+1 -11
View File
@@ -67,17 +67,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output) override
{
std::lock_guard<std::mutex> lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
/** \brief Parameter callback
* \param params parameter values to set
pcl_ros/include/pcl_ros/filters/voxel_grid.hpp
+1 -11
View File
@@ -59,17 +59,7 @@ protected:
inline void
filter(
const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
PointCloud2 & output) override
{
std::lock_guard<std::mutex> lock(mutex_);
pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
pcl_conversions::toPCL(*(input), *(pcl_input));
impl_.setInputCloud(pcl_input);
impl_.setIndices(indices);
pcl::PCLPointCloud2 pcl_output;
impl_.filter(pcl_output);
pcl_conversions::moveFromPCL(pcl_output, output);
}
PointCloud2 & output) override;
/** \brief Parameter callback
* \param params parameter values to set