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#include <ros/ros.h>
#include <pcl_ros/transforms.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include <tf/transform_listener.h>
#include <nav_msgs/Odometry.h>


using namespace std;
class pc_accumulation
{
        public:

                tf::TransformListener *p_listener;
                ros::NodeHandle* p_n;
                double voxel_size;
                std::string _acc_frame_id;
                
                nav_msgs::Odometry odometry_;
                ros::Time time_msg;

                sensor_msgs::PointCloud2 msg_cloud;

                pcl::PointCloud<pcl::PointXYZRGB> pcl_pc_acc; //accumulation pc
                
                int pointcloud_accumulated(sensor_msgs::LaserScan& scan_in,std::string acc_frame_id)
                {
                        
                          laser_geometry::LaserProjection projector_;
                          pcl::PointCloud<pcl::PointXYZ> pc_tmp;
                          pcl::PointCloud<pcl::PointXYZRGB> pc_laser;
                          sensor_msgs::PointCloud2 poincloud_in;
                          //Transformacao de LaserScan para PointCloud
                          projector_.transformLaserScanToPointCloud(scan_in.header.frame_id,scan_in,poincloud_in,*p_listener);


                          pcl::fromROSMsg(poincloud_in,pc_tmp);
//                        pc_tmp.header.frame_id=scan_in.header.frame_id;

                          pc_laser.points.resize(pc_tmp.size());

                          for (size_t i = 0; i < pc_laser.points.size(); i++)
                          {

                            pc_laser.points[i].x = pc_tmp.points[i].x;
                            pc_laser.points[i].y = pc_tmp.points[i].y;
                            pc_laser.points[i].z = pc_tmp.points[i].z;
                            pc_laser.points[i].r = 0.0;
                            pc_laser.points[i].g = 0.0;
                            pc_laser.points[i].b = 0.0;
                   }
                           pc_laser.header.frame_id =  scan_in.header.frame_id;
                   pc_laser.header.stamp =  scan_in.header.stamp;
                          return pointcloud_accumulated(pc_laser,acc_frame_id);
                    };

                int pointcloud_accumulated(sensor_msgs::PointCloud2& pc_in,std::string acc_frame_id)
                {
                        pcl::PointCloud<pcl::PointXYZRGB> pcl_pc; //temporary pcl
                        for (size_t i=0; i <pc_in.fields.size();i++)
                        {
                                if (pc_in.fields[i].name=="rgb")
                                {
                                       ROS_ERROR("TEM RGB");
                                       
                                      pcl::fromROSMsg(pc_in,pcl_pc);
                                }
                                else
                                {
                                       
                                      pcl::PointCloud<pcl::PointXYZ> pcl_tmp; //temporary pcl
                                      pcl::fromROSMsg(pc_in,pcl_tmp);
                                      pcl_pc.points.resize(pcl_tmp.size());
                                       for (size_t i = 0; i < pcl_pc.points.size(); i++)
                                       {
                                      pcl_pc.points[i].x = pcl_tmp.points[i].x;
                                      pcl_pc.points[i].y = pcl_tmp.points[i].y;
                                      pcl_pc.points[i].z = pcl_tmp.points[i].z;
                                      pcl_pc.points[i].r = 0.0;
                                      pcl_pc.points[i].g = 0.0;
                                      pcl_pc.points[i].b = 0.0;
                                       }

                                }
                        }
                        pcl_pc.header.frame_id=pc_in.header.frame_id;
                        return pointcloud_accumulated(pcl_pc,acc_frame_id);
                        
                };
                int pointcloud_accumulated(pcl::PointCloud<pcl::PointXYZRGB> pcl_pc,std::string acc_frame_id);
                

                   int remove_points_from_pointcloud(pcl::PointCloud<pcl::PointXYZRGB> pcl_pc,float dist,std::string frame_id)
                   {
                        tf::StampedTransform transform;
                        
                        try
                        {
                                p_listener->lookupTransform(frame_id,_acc_frame_id ,  pcl_pc.header.stamp, transform);
                        }
                        catch (tf::TransformException ex)
                        {
                                ROS_ERROR("%s",ex.what());
                                return 0;
                        }
//                      ROS_INFO("get origin");
                        double X0 = transform.getOrigin().x();
                        double Y0 = transform.getOrigin().y();
                        double Z0 = transform.getOrigin().z();

                        return remove_points_from_pointcloud(pcl_pc,dist, X0, Y0, Z0);
                }

                int remove_points_from_pointcloud(pcl::PointCloud<pcl::PointXYZRGB> pcl_pc,float dist, float X0, float Y0, float Z0);

private:
                
};

---

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