project_inliers.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: project_inliers.h 35876 2011-02-09 01:04:36Z rusu $
 *
 */

#ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
#define PCL_ROS_FILTERS_PROJECT_INLIERS_H_

// PCL includes
#include <pcl/filters/project_inliers.h>
#include "pcl_ros/filters/filter.h"

#include <message_filters/subscriber.h>

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class ProjectInliers : public Filter
  {
    public:
      ProjectInliers () : model_ () {}

    protected:
      inline void
      filter (const PointCloud2::ConstPtr &input, const IndicesConstPtr &indices, 
              PointCloud2 &output)
      {
        impl_.setInputCloud (input);
        impl_.setIndices (indices);
        impl_.setModelCoefficients (model_);
        impl_.filter (output);
      }

    private:
      ModelCoefficientsConstPtr model_;

      message_filters::Subscriber<ModelCoefficients> sub_model_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_a_;
      pcl::ProjectInliers<PointCloud2> impl_;

      virtual void 
      onInit ();

      void 
      input_indices_model_callback (const PointCloud2::ConstPtr &cloud, 
                                    const PointIndicesConstPtr &indices, 
                                    const ModelCoefficientsConstPtr &model);
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_

---

pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:15:34 2013