How to pass a Pointer member inside a class - pointers

Question

I have a callback function (for ROS subscriber of type PointCloud2 msg).
I want to be able to pass a different pointer member inside the callback function because I saw that when I call the function twice there is a problem in the values of the variable that use this pointer.
This is part of my code:
class Planner {
public:
char frame_id[10] = "os1_lidar";
int num_area = 1;
int i = 0; // for create the circular path
float right_point_y = 0;
float left_point_y = 0;
float y_distance = 0; //the distance between the trees in the Y axis
float center_point_y = 0; //the center point between the trees in the y axis after average calculation
float right_center_point_x = 0; //the center point of the right tree in the x axis
float left_center_point_x = 0; //the center point of the left tree in the x axis
float max_center_point_y = 1.4; //the max distance in the 7 axis for sending to arduino the steering angle
//setting the two side area of the trees to filter the point cloud
float minX_r = -5, minY_r = 2, minZ_r = -0.4;
float maxX_r = -2, maxY_r = 4, maxZ_r = -0.1;
float minX_l = -5, minY_l = -4, minZ_l = -0.4;
float maxX_l = -2, maxY_l = -2, maxZ_l = 0.1;
int red, green, blue = 0; //for change the boxes' color outside the lines
bool publish_points = true;
bool publish_markers = true;
ros::Publisher point_cloud_pub;
ros::Publisher center_point_marker_pub;
ros::Publisher right_point_marker_pub;
ros::Publisher left_point_marker_pub;
ros::Publisher marker_area_right_pub;
ros::Publisher marker_area_left_pub;
void Point_Filtering(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud_msg);
}
void Planner::Point_Filtering(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud_msg) {
ROS_INFO_STREAM_ONCE("Getting Data from Lidar");
ROS_INFO_STREAM_ONCE("size " << cloud_msg->size());
ROS_INFO_STREAM_ONCE("width " << cloud_msg->width);
ROS_INFO_STREAM_ONCE("height " << cloud_msg->height);
// Right Line
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered_r(new pcl::PointCloud<pcl::PointXYZ>);
//Left Line
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered_l(new pcl::PointCloud<pcl::PointXYZ>);
//Right Trees Box Filter
pcl::CropBox<pcl::PointXYZ> boxFilter_r;
boxFilter_r.setInputCloud(cloud_msg);
boxFilter_r.setMin(Eigen::Vector4f(minX_r, minY_r, minZ_r, 1.0));
boxFilter_r.setMax(Eigen::Vector4f(maxX_r, maxY_r, maxZ_r, 1.0));
boxFilter_r.setNegative(false);
boxFilter_r.setTranslation(Eigen::Vector3f(0.0, 0.0, 0.0));
boxFilter_r.filter(*cloud_filtered_r);
//Left Trees Box Filter
pcl::CropBox<pcl::PointXYZ> boxFilter_l;
boxFilter_l.setInputCloud(cloud_msg);
boxFilter_l.setMin(Eigen::Vector4f(minX_l, minY_l, minZ_l, 1.0));
boxFilter_l.setMax(Eigen::Vector4f(maxX_l, maxY_l, maxZ_l, 1.0));
boxFilter_l.setNegative(false);
boxFilter_l.setTranslation(Eigen::Vector3f(0.0, 0.0, 0.0));
boxFilter_l.filter(*cloud_filtered_l);
//Right Trees (Y axis)
Eigen::Vector4f centroid_r_y;
pcl::compute3DCentroid(*cloud_filtered_r, centroid_r_y);
right_point_y = centroid_r_y[1];
//Left Trees (Y axis)
Eigen::Vector4f centroid_l_y;
pcl::compute3DCentroid(*cloud_filtered_l, centroid_l_y);
left_point_y = centroid_l_y[1];
y_distance = abs(centroid_l_y[1]) + abs(centroid_r_y[1]);
center_point_y = (abs(centroid_l_y[1]) - abs(centroid_r_y[1])) / 2;
//Right Trees (X axis)
Eigen::Vector4f centroid_r_x;
pcl::compute3DCentroid(*cloud_filtered_r, centroid_r_x);
right_center_point_x = centroid_r_x[0];
// ROS_INFO_STREAM("right_point_x : "<< num_area << " :" << right_center_point_x);
//Left Trees (X axis)
Eigen::Vector4f centroid_l_x;
pcl::compute3DCentroid(*cloud_filtered_l, centroid_l_x);
left_center_point_x = centroid_l_x[0];
}
int main(int argc, char **argv) {
ROS_INFO_STREAM_ONCE("Running");
// Initialize ROS
ros::init(argc, argv, "pcl_filter_node");
ros::NodeHandle nh;
//region 1st
Planner planner;
ros::Subscriber sub = nh.subscribe<pcl::PointCloud<pcl::PointXYZ> >("/fused_points", 1,
&Planner::Point_Filtering, &planner);
planner.num_area = 1;
planner.minX_r = -3;
planner.minX_l = -3;
planner.maxX_r = 0;
planner.maxX_l = 0;
planner.point_cloud_pub = nh.advertise<pcl::PointCloud<pcl::PointXYZ> >("pcl_filtered", 1);
planner.center_point_marker_pub = nh.advertise<visualization_msgs::Marker>("center_marker",
1);
planner.right_point_marker_pub = nh.advertise<visualization_msgs::Marker>("right_marker",
1);
planner.left_point_marker_pub = nh.advertise<visualization_msgs::Marker>("left_x_marker",
1);
planner.marker_area_right_pub = nh.advertise<visualization_msgs::Marker>("right_box_marker",
1);
planner.marker_area_left_pub = nh.advertise<visualization_msgs::Marker>("left_box_marker",
1);
//endregion
//region 2nd
Planner planner_2;
planner_2.num_area = 2;
planner_2.minX_r = -8 ;
planner_2.minX_l = -8;
planner_2.maxX_r = -5;
planner_2.maxX_l = -5;
planner_2.publish_points = false;
planner_2.point_cloud_pub = nh.advertise<pcl::PointCloud<pcl::PointXYZ> >("pcl_filtered_2",
1);
planner_2.center_point_marker_pub = nh.advertise<visualization_msgs::Marker>
("center_marker_2", 1);
planner_2.right_point_marker_pub = nh.advertise<visualization_msgs::Marker>
("right_marker_2", 1);
planner_2.left_point_marker_pub = nh.advertise<visualization_msgs::Marker>
("left_x_marker_2", 1);
planner_2.marker_area_right_pub = nh.advertise<visualization_msgs::Marker>
("right_box_marker_2", 1);
planner_2.marker_area_left_pub = nh.advertise<visualization_msgs::Marker>
("left_box_marker_2", 1);
ros::Subscriber sub2 = nh.subscribe<pcl::PointCloud<pcl::PointXYZ> >("/fused_points", 1,
&Planner::Point_Filtering, &planner_2);
//endregion
ros::Rate r(15);
ros::Time test_time;
while (nh.ok()) {
ros::spinOnce();
r.sleep();
}
}
This code takes the original point clouds, filters it to relevant areas and then calculate centroid in those filtered point clouds.
I want to take this line :
pcl::PointCloudpcl::PointXYZ::Ptr cloud_filtered_r(new
pcl::PointCloudpcl::PointXYZ);
and to put it in the public part of the class so I will be able to change this name of the filtered points.
When I subscribe to the same msg twice the centroid of the second area is equal to the first and this is wrong for me.
Thanks for your help.