pr2_point_cloud_footprint_filter.h

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#ifndef PR2_POINT_CLOUD_FOOTPRINT_FILTER_H
#define PR2_POINT_CLOUD_FOOTPRINT_FILTER_H

#include "laser_geometry/laser_geometry.h"
#include "filters/filter_base.h"
#include "tf/transform_listener.h"
#include "ros/ros.h"
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/transforms.h>
#include <sensor_msgs/PointCloud2.h>

namespace pr2_laser_filters
{

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

class PR2PointCloudFootprintFilterNew : public filters::FilterBase<sensor_msgs::PointCloud2>
{
public:
  PR2PointCloudFootprintFilterNew() {}

  bool configure()
  {
    if(!getParam("inscribed_radius", inscribed_radius_))
    {
      ROS_ERROR("PR2PointCloudPointCloudFootprintFilter needs inscribed_radius to be set");
      return false;
    }
    return true;
  }

  virtual ~PR2PointCloudFootprintFilterNew()
  { 

  }

  bool update(const sensor_msgs::PointCloud2& input_scan2, sensor_msgs::PointCloud2& filtered_scan2)
  {
    if(&input_scan2 == &filtered_scan2){
      ROS_ERROR("This filter does not currently support in place copying");
      return false;
    }

    PointCloud input_scan, filtered_scan, laser_cloud;
    pcl::fromROSMsg(input_scan2, input_scan);

    try{
      tf_.waitForTransform(input_scan.header.frame_id, "base_link", input_scan.header.stamp, ros::Duration(0.2));
      pcl_ros::transformPointCloud("base_link", input_scan, laser_cloud, tf_);
    }
    catch(tf::TransformException& ex){
      ROS_ERROR("Transform unavailable %s", ex.what());
      return false;
    }

    filtered_scan.header = input_scan.header;
    filtered_scan.points.resize (input_scan.points.size());

    int num_pts = 0;
    for (unsigned int i=0; i < laser_cloud.points.size(); i++)  
    {
      if (!inFootprint(laser_cloud.points[i])){
        filtered_scan.points[num_pts] = input_scan.points[i];
        num_pts++;
      }
    }

    // Resize output vectors
    filtered_scan.points.resize (num_pts);
    pcl::toROSMsg(filtered_scan, filtered_scan2);

    return true;
  }


  bool inFootprint(const pcl::PointXYZ& scan_pt){
    if(scan_pt.x < -1.0 * inscribed_radius_ || scan_pt.x > inscribed_radius_ || scan_pt.y < -1.0 * inscribed_radius_ || scan_pt.y > inscribed_radius_)
      return false;
    return true;
  }

private:
  tf::TransformListener tf_;
  laser_geometry::LaserProjection projector_;
  double inscribed_radius_;
} ;

}

#endif // PR2_POINT_CLOUD_FOOTPRINT_FILTER_H