filter_table_alg.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _filter_table_alg_h_
00026 #define _filter_table_alg_h_
00027 
00028 #include <iri_filter_table/FilterTableConfig.h>
00029 #include "mutex.h"
00030 #include <sensor_msgs/PointCloud2.h>
00031 #include <pcl/point_cloud.h>
00032 #include <pcl/point_types.h>
00033 #include <pcl/ros/conversions.h>
00034 #include <iostream>
00035 #include <pcl/ModelCoefficients.h>
00036 #include <pcl/sample_consensus/method_types.h>
00037 #include <pcl/sample_consensus/model_types.h>
00038 #include <pcl/segmentation/sac_segmentation.h>
00039 //#include <pcl/filters/voxel_grid.h>
00040 #include <pcl/filters/extract_indices.h>
00041 #include <pcl/filters/passthrough.h>
00042 #include <pcl/filters/radius_outlier_removal.h>
00043 
00044 //include filter_table_alg main library
00045 
00051 class FilterTableAlgorithm
00052 {
00053   protected:
00060     CMutex alg_mutex_;
00061 
00062     // private attributes and methods
00063     float max_z_; //0.8
00064     float sac_dist_thr_;  //0.001
00065     float filter_final_ratio_; //0.6
00066     float rad_radius_search_; //0.1
00067 
00068   public:
00075     typedef iri_filter_table::FilterTableConfig Config;
00076 
00083     Config config_;
00084 
00093     FilterTableAlgorithm(void);
00094 
00100     void lock(void) { alg_mutex_.enter(); };
00101 
00107     void unlock(void) { alg_mutex_.exit(); };
00108 
00116     bool try_enter(void) { return alg_mutex_.try_enter(); };
00117 
00129     void config_update(Config& new_cfg, uint32_t level=0);
00130 
00131     // here define all filter_table_alg interface methods to retrieve and set
00132     // the driver parameters
00133     inline float set_max_z(float max_z)
00134     {
00135       this->max_z_=max_z;
00136       return this->max_z_;
00137     }
00138 
00139     inline float set_sac_dist_thr(float sac_dist_thr)
00140     {
00141       this->sac_dist_thr_=sac_dist_thr;
00142       return this->sac_dist_thr_;
00143     }
00144 
00145     inline float set_filter_final_ratio(float filter_final_ratio)
00146     {
00147       this->filter_final_ratio_=filter_final_ratio;
00148       return this->filter_final_ratio_;
00149     }
00150 
00151     inline float set_rad_radius_search(float rad_radius_search)
00152     {
00153       this->rad_radius_search_=rad_radius_search;
00154       return this->rad_radius_search_;
00155     }
00156 
00163     ~FilterTableAlgorithm(void);
00164 
00165     pcl::PointCloud<pcl::PointXYZRGB>::Ptr filter_table(const sensor_msgs::PointCloud2::ConstPtr &cloud_blob);
00166 
00167 };
00168 
00169 
00170 #endif


iri_filter_table
Author(s): Arnau Ramisa
autogenerated on Fri Dec 6 2013 21:38:36