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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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 Willow Garage, Inc. 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 * INCIDENTAL, 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 * $Id: radius_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_ 00039 #define PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_ 00040 00041 // PCL includes 00042 #include <pcl/filters/radius_outlier_removal.h> 00043 #include "pcl_ros/filters/filter.h" 00044 00045 namespace pcl_ros 00046 { 00052 class RadiusOutlierRemoval : public Filter 00053 { 00054 protected: 00060 inline void 00061 filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 00062 PointCloud2 &output) 00063 { 00064 impl_.setInputCloud (input); 00065 impl_.setIndices (indices); 00066 impl_.filter (output); 00067 } 00068 00072 virtual inline bool child_init (ros::NodeHandle &nh) { return (true); } 00073 00074 private: 00076 pcl::RadiusOutlierRemoval<sensor_msgs::PointCloud2> impl_; 00077 public: 00078 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00079 }; 00080 } 00081 00082 #endif //#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_