00001 // -*- mode: C++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 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/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab 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 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