voxel_grid.h

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/*
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 * $Id: voxel_grid.h 35876 2011-02-09 01:04:36Z rusu $
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#ifndef PCL_ROS_FILTERS_VOXEL_H_
#define PCL_ROS_FILTERS_VOXEL_H_

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

// Dynamic reconfigure
#include "pcl_ros/VoxelGridConfig.h"

namespace pcl_ros
{
  class VoxelGrid : public Filter
  {
    protected:
      boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::VoxelGridConfig> > srv_;

      pcl::VoxelGrid<sensor_msgs::PointCloud2> impl_;

      virtual void
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
              PointCloud2 &output);

      bool 
      child_init (ros::NodeHandle &nh, bool &has_service);

      void 
      config_callback (pcl_ros::VoxelGridConfig &config, uint32_t level);
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_FILTERS_VOXEL_H_