statistical_outlier_removal.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: statistical_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $
 *
 */
 
#ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
 
// PCL includes
#include <pcl/filters/statistical_outlier_removal.h>
#include "pcl_ros/filters/filter.h"
 
// Dynamic reconfigure
#include "pcl_ros/StatisticalOutlierRemovalConfig.h"
 
namespace pcl_ros
{
  class StatisticalOutlierRemoval : public Filter
  {
    protected:
      boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > srv_;
 
      inline void
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
              PointCloud2 &output)
      {
        boost::mutex::scoped_lock lock (mutex_);
        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
        pcl_conversions::toPCL(*(input), *(pcl_input));
        impl_.setInputCloud (pcl_input);
        impl_.setIndices (indices);
        pcl::PCLPointCloud2 pcl_output;
        impl_.filter (pcl_output);
        pcl_conversions::moveFromPCL(pcl_output, output);
      }
 
      bool child_init (ros::NodeHandle &nh, bool &has_service);
 
      void config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level);
 
    private:
      pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> impl_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}
 
#endif  //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_