filter_jump_edge_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _filter_jump_edge_alg_h_
#define _filter_jump_edge_alg_h_

#include <iri_filter_jump_edge/FilterJumpEdgeConfig.h>
#include "mutex.h"
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/image_encodings.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>

//include filter_jump_edge_alg main library

class FilterJumpEdgeAlgorithm
{
  private: 
    
    // Intrinsec Parameters
    double sx_, sy_, u0_, v0_, skw_, ang_thr_;
    
    // Output Variables
    //pcl::PointCloud<pcl::PointXYZRGB> filtered_pc_;
    //pcl::PointCloud<pcl::PointXYZRGB> residual_pc_;
    sensor_msgs::PointCloud2 filtered_pc_;
    sensor_msgs::PointCloud2 residual_pc_;
    sensor_msgs::Image residual_img_;


  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_filter_jump_edge::FilterJumpEdgeConfig Config;

    Config config_;

    FilterJumpEdgeAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    bool apply_jump_edge_filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
    
    
    // here define all filter_jump_edge_alg interface methods to retrieve and set
    // the driver parameters
    sensor_msgs::PointCloud2* get_filtered_pc(void);
    sensor_msgs::PointCloud2* get_residual_pc(void);
    sensor_msgs::Image* get_residual_img(void);
    
    void set_sx(double sx);
    void set_sy(double sy);
    void set_u0(double u0);
    void set_v0(double v0);
    void set_skw(double skw);
    void set_ang_thr(double ang_thr);

    ~FilterJumpEdgeAlgorithm(void);
};

#endif