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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * FOOTPRINTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef LASER_SCAN_FOOTPRINT_FILTER_H 00036 #define LASER_SCAN_FOOTPRINT_FILTER_H 00037 00044 #include "laser_geometry/laser_geometry.h" 00045 #include "filters/filter_base.h" 00046 #include "tf/transform_listener.h" 00047 #include "sensor_msgs/PointCloud.h" 00048 #include "ros/ros.h" 00049 00050 namespace laser_filters 00051 { 00052 00053 class PointCloudFootprintFilter : public filters::FilterBase<sensor_msgs::PointCloud> 00054 { 00055 public: 00056 PointCloudFootprintFilter() { 00057 ROS_WARN("PointCloudFootprintFilter has been deprecated. Please use PR2PointCloudFootprintFilter instead.\n"); 00058 } 00059 00060 bool configure() 00061 { 00062 if(!getParam("inscribed_radius", inscribed_radius_)) 00063 { 00064 ROS_ERROR("PointCloudFootprintFilter needs inscribed_radius to be set"); 00065 return false; 00066 } 00067 return true; 00068 } 00069 00070 virtual ~PointCloudFootprintFilter() 00071 { 00072 00073 } 00074 00075 bool update(const sensor_msgs::PointCloud& input_scan, sensor_msgs::PointCloud& filtered_scan) 00076 { 00077 if(&input_scan == &filtered_scan){ 00078 ROS_ERROR("This filter does not currently support in place copying"); 00079 return false; 00080 } 00081 sensor_msgs::PointCloud laser_cloud; 00082 00083 try{ 00084 tf_.transformPointCloud("base_link", input_scan, laser_cloud); 00085 } 00086 catch(tf::TransformException& ex){ 00087 ROS_ERROR("Transform unavailable %s", ex.what()); 00088 return false; 00089 } 00090 00091 filtered_scan.header = input_scan.header; 00092 filtered_scan.points.resize (input_scan.points.size()); 00093 filtered_scan.channels.resize (input_scan.channels.size()); 00094 for (unsigned int d = 0; d < input_scan.channels.size (); d++){ 00095 filtered_scan.channels[d].values.resize (input_scan.points.size()); 00096 filtered_scan.channels[d].name = input_scan.channels[d].name; 00097 } 00098 00099 int num_pts = 0; 00100 for (unsigned int i=0; i < laser_cloud.points.size(); i++) 00101 { 00102 if (!inFootprint(laser_cloud.points[i])){ 00103 filtered_scan.points[num_pts] = input_scan.points[i]; 00104 for (unsigned int d = 0; d < filtered_scan.channels.size (); d++) 00105 filtered_scan.channels[d].values[num_pts] = input_scan.channels[d].values[i]; 00106 num_pts++; 00107 } 00108 } 00109 00110 // Resize output vectors 00111 filtered_scan.points.resize (num_pts); 00112 for (unsigned int d = 0; d < filtered_scan.channels.size (); d++) 00113 filtered_scan.channels[d].values.resize (num_pts); 00114 00115 return true; 00116 } 00117 00118 00119 bool inFootprint(const geometry_msgs::Point32& scan_pt){ 00120 if(scan_pt.x < -1.0 * inscribed_radius_ || scan_pt.x > inscribed_radius_ || scan_pt.y < -1.0 * inscribed_radius_ || scan_pt.y > inscribed_radius_) 00121 return false; 00122 return true; 00123 } 00124 00125 private: 00126 tf::TransformListener tf_; 00127 laser_geometry::LaserProjection projector_; 00128 double inscribed_radius_; 00129 } ; 00130 00131 } 00132 00133 #endif // LASER_SCAN_FOOTPRINT_FILTER_H