moving_least_square_smoothing.h
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00001 // -*- mode: C++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 #ifndef JSK_PCL_ROS_MOVING_LEAST_SQUARE_SMOOTHING_H_
00037 #define JSK_PCL_ROS_MOVING_LEAST_SQUARE_SMOOTHING_H_
00038 
00039 // ros
00040 #include <ros/ros.h>
00041 #include <ros/names.h>
00042 #include <sensor_msgs/PointCloud2.h>
00043 #include <tf/transform_broadcaster.h>
00044 #include <jsk_pcl_ros/MovingLeastSquareSmoothingConfig.h>
00045 
00046 // pcl
00047 #include <pcl_ros/pcl_nodelet.h>
00048 #include <pcl/point_types.h>
00049 #include <pcl/common/centroid.h>
00050 #include <pcl/surface/mls.h>
00051 #include <dynamic_reconfigure/server.h>
00052 #include <pcl/filters/filter.h>
00053 #include <jsk_topic_tools/diagnostic_nodelet.h>
00054 
00055 namespace jsk_pcl_ros
00056 {
00057   class MovingLeastSquareSmoothing: public jsk_topic_tools::DiagnosticNodelet
00058   {
00059   public:
00060     typedef MovingLeastSquareSmoothingConfig Config;
00061     MovingLeastSquareSmoothing(): DiagnosticNodelet("MovingLesatSquareSmoothing"){};
00062   protected:
00063     virtual void onInit();
00064     virtual void subscribe();
00065     virtual void unsubscribe();
00066     virtual void smooth(const sensor_msgs::PointCloud2ConstPtr &input);
00067     virtual void configCallback(Config &config, uint32_t level);
00068 
00069     ros::Subscriber sub_input_;
00070     ros::Publisher pub_;
00071     bool gauss_param_set_;
00072     bool calc_normal_;
00073     double search_radius_;
00074     bool use_polynomial_fit_;
00075     int polynomial_order_;
00076     boost::mutex mutex_;
00077     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00078 
00079   private:
00080   };
00081 }
00082 
00083 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:41:43