00001 /* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id: cropbox.cpp 00036 * 00037 */ 00038 00039 #ifndef PCL_ROS_FILTERS_CROPBOX_H_ 00040 #define PCL_ROS_FILTERS_CROPBOX_H_ 00041 00042 // PCL includes 00043 #include <pcl/filters/crop_box.h> 00044 #include "pcl_ros/filters/filter.h" 00045 00046 // Dynamic reconfigure 00047 #include "pcl_ros/CropBoxConfig.h" 00048 00049 namespace pcl_ros 00050 { 00057 class CropBox : public Filter 00058 { 00059 protected: 00061 boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > srv_; // TODO 00062 00068 inline void 00069 filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 00070 PointCloud2 &output) 00071 { 00072 boost::mutex::scoped_lock lock (mutex_); 00073 pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2); 00074 pcl_conversions::toPCL (*(input), *(pcl_input)); 00075 impl_.setInputCloud (pcl_input); 00076 impl_.setIndices (indices); 00077 pcl::PCLPointCloud2 pcl_output; 00078 impl_.filter (pcl_output); 00079 pcl_conversions::moveFromPCL(pcl_output, output); 00080 } 00081 00086 bool 00087 child_init (ros::NodeHandle &nh, bool &has_service); 00088 00093 void 00094 config_callback (pcl_ros::CropBoxConfig &config, uint32_t level); 00095 00096 private: 00098 pcl::CropBox<pcl::PCLPointCloud2> impl_; 00099 public: 00100 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00101 }; 00102 } 00103 00104 #endif //#ifndef PCL_ROS_FILTERS_CROPBOX_H_