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#include <pc_accumulation/pc_accumulation.h>
#include <pcl/filters/voxel_grid.h>
//#include <fstream>
//#include <iostream>

//voxel_filter
sensor_msgs::PointCloud2 voxel_filter(sensor_msgs::PointCloud2 msg_in, float voxel_size)
{
        sensor_msgs::PointCloud2 msg_out;
        sensor_msgs::PointCloud2ConstPtr msg_ptr (new sensor_msgs::PointCloud2 (msg_in));
        pcl::VoxelGrid<sensor_msgs::PointCloud2> sor;
        sor.setInputCloud(msg_ptr);
        sor.setLeafSize (voxel_size, voxel_size, voxel_size);
        sor.filter (msg_out);
        return msg_out;
}


int pc_accumulation::pointcloud_accumulated(pcl::PointCloud<pcl::PointXYZRGB> pcl_pc,std::string acc_frame_id)
{
        tf::StampedTransform transform;

        pcl_pc.header.stamp=ros::Time();
        pcl::PointCloud<pcl::PointXYZRGB> pcl_transformed;

        bool have_transform=false;
        try
        {
                p_listener->lookupTransform(acc_frame_id,pcl_pc.header.frame_id , pcl_pc.header.stamp, transform);
                have_transform=true;
        }
        catch (tf::TransformException ex)
        {
                if(p_listener->waitForTransform(acc_frame_id,pcl_pc.header.frame_id,pcl_pc.header.stamp, ros::Duration(3.0)))
                {
                        try
                        {
                                p_listener->lookupTransform(acc_frame_id,pcl_pc.header.frame_id , pcl_pc.header.stamp, transform);
                                have_transform=true;
                        }
                        catch (tf::TransformException ex)
                        {
                                ROS_ERROR("Could not lookup transform after waiting 3 secs\n.%s",ex.what());
                        }
                }
                else
                {
                        ROS_ERROR("Could find valid transform after waiting 3 secs\n.%s",ex.what());
                }
        }

        if (have_transform==false)
        {
                return 0;       
        }
        
        // Transform pc1 to pc2 ->transform
        pcl_ros::transformPointCloud(pcl_pc,pcl_transformed,transform);
        pcl_transformed.header.frame_id=acc_frame_id;
       
        pcl_pc_acc+=pcl_transformed;
    
        sensor_msgs::PointCloud2 pc_trans;
        sensor_msgs::PointCloud2 pc_voxel;

        pcl::toROSMsg(pcl_pc_acc,pc_trans);

        pc_voxel=voxel_filter(pc_trans,voxel_size);
        pcl::fromROSMsg(pc_voxel,pcl_pc_acc);

        pcl_pc_acc.header.frame_id=acc_frame_id;
        return 1;
}

//ofstream myfile;
int pc_accumulation::remove_points_from_pointcloud(pcl::PointCloud<pcl::PointXYZRGB> pcl_pc,float dist, float X0, float Y0, float Z0)
{
/*      int counttt=0,counttttt=0;

        static int init=0;
        if (init==0)
        {
                init=1;
                myfile.open ("../percentagem.txt");
        }
*/

//      ROS_INFO("before cleanup %ld points", pcl_pc.points.size());
        for(long int i=pcl_pc.points.size()-1; i>0; --i)
        {
                float dist_x, dist_y, dist_z, dist_norm;

                dist_x=pcl_pc.points[i].x-X0;
                dist_y=pcl_pc.points[i].y-Y0;
                dist_z=pcl_pc.points[i].z-Z0;
        
                dist_norm=sqrt(dist_x*dist_x + dist_y*dist_y + dist_z*dist_z);
                //verificar qto pontos se encontram
        /*      if (sqrt(dist_x*dist_x)> 8 || (sqrt(dist_y*dist_y)> 2 || sqrt(dist_z*dist_z)> 0.2))
                {
                        pcl_pc.erase(pcl_pc.points.begin()+i);
                        ROS_INFO("after cleanup %ld points", pcl_pc.points.size());
                }               
                if(( (dist_x>0 &&dist_x<5) || sqrt(dist_y*dist_y)< 0.5) && sqrt(dist_z*dist_z)< 0.2)
                {
                        counttttt++;
                        if ( dist_z< 0.10 && dist_z>-0.10)
                                counttt++;
                }*/

                if(dist_norm>dist) //verify distance
                {
                        pcl_pc.erase(pcl_pc.points.begin()+i);
                }
        }
        pcl_pc_acc=pcl_pc;

        return 1;
}

---

pc_accumulation
Author(s): Pedro Salvado
autogenerated on Wed Jul 23 04:33:17 2014