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Try this for your callback:

void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
    // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr
        cloud(new pcl::PointCloud<pcl::PointXYZ> ()),
        cloud_filtered(new pcl::PointCloud<pcl::PointXYZ> ());
    pcl::fromROSMsg (*input, *cloud);

    pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
    sor.setInputCloud (cloud);
    sor.setMeanK (50);
    sor.setStddevMulThresh (1.0);
    sor.filter (*cloud_filtered);

    sensor_msgs::PointCloud2::Ptr
        cloud_filtered2(new sensor_msgs::PointCloud2 ());
    pcl::toROSMsg (*cloud_filtered, *cloud_filtered2);

    // Publish the dataSize 
    pub.publish (cloud_filtered2);
}

Does that do what you want?