moving_least_square_smoothing.h

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// -*- mode: C++ -*-
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#ifndef JSK_PCL_ROS_MOVING_LEAST_SQUARE_SMOOTHING_H_
#define JSK_PCL_ROS_MOVING_LEAST_SQUARE_SMOOTHING_H_

// ros
#include <ros/ros.h>
#include <ros/names.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_broadcaster.h>
#include <jsk_pcl_ros/MovingLeastSquareSmoothingConfig.h>

// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/common/centroid.h>
#include <pcl/surface/mls.h>
#include <dynamic_reconfigure/server.h>
#include <pcl/filters/filter.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>

namespace jsk_pcl_ros
{
  class MovingLeastSquareSmoothing: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef MovingLeastSquareSmoothingConfig Config;
    MovingLeastSquareSmoothing(): DiagnosticNodelet("MovingLesatSquareSmoothing"){};
  protected:
    virtual void onInit();
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void smooth(const sensor_msgs::PointCloud2ConstPtr &input);
    virtual void configCallback(Config &config, uint32_t level);

    ros::Subscriber sub_input_;
    ros::Publisher pub_;
    bool gauss_param_set_;
    bool calc_normal_;
    double search_radius_;
    bool use_polynomial_fit_;
    int polynomial_order_;
    boost::mutex mutex_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;

  private:
  };
}

#endif