filter.h

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 * $Id: filter.h 35876 2011-02-09 01:04:36Z rusu $
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#ifndef PCL_ROS_FILTER_H_
#define PCL_ROS_FILTER_H_
 
// PCL includes
#include "pcl_ros/pcl_nodelet.h"
 
// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FilterConfig.h"
 
namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;
 
  class Filter : public PCLNodelet
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;
 
      typedef pcl::IndicesPtr IndicesPtr;
      typedef pcl::IndicesConstPtr IndicesConstPtr;
 
      Filter () {}
 
    protected:
      ros::Subscriber sub_input_;
 
      message_filters::Subscriber<PointCloud2> sub_input_filter_;
 
      std::string filter_field_name_;
 
      double filter_limit_min_;
 
      double filter_limit_max_;
 
      bool filter_limit_negative_;
 
      std::string tf_input_frame_;
 
      std::string tf_input_orig_frame_;
 
      std::string tf_output_frame_;
 
      boost::mutex mutex_;
 
      virtual bool 
      child_init (ros::NodeHandle &/*nh*/, bool &has_service) 
      { 
        has_service = false; 
        return (true); 
      }
 
      virtual void 
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
              PointCloud2 &output) = 0;
 
      virtual void
      subscribe();
 
      virtual void
      unsubscribe();
 
      virtual void 
      onInit ();
 
      void 
      computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices);
 
    private:
      boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_;
 
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices> > > sync_input_indices_a_;
 
      virtual void 
      config_callback (pcl_ros::FilterConfig &config, uint32_t level);
 
      void 
      input_indices_callback (const PointCloud2::ConstPtr &cloud, 
                              const PointIndicesConstPtr &indices);
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_ROS_FILTER_H_