filter.h

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 * $Id: filter.h 35876 2011-02-09 01:04:36Z rusu $
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#ifndef PCL_ROS_FILTER_H_
#define PCL_ROS_FILTER_H_

// PCL includes
#include <pcl/filters/filter.h>
#include "pcl_ros/pcl_nodelet.h"

// Dynamic reconfigure
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/FilterConfig.h"

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class Filter : public PCLNodelet
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;

      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;

      Filter () {}

    protected:
      ros::Subscriber sub_input_;

      message_filters::Subscriber<PointCloud2> sub_input_filter_;

      std::string filter_field_name_;

      double filter_limit_min_;

      double filter_limit_max_;

      bool filter_limit_negative_;

      std::string tf_input_frame_;

      std::string tf_input_orig_frame_;

      std::string tf_output_frame_;

      boost::mutex mutex_;

      virtual bool 
      child_init (ros::NodeHandle &nh, bool &has_service) 
      { 
        has_service = false; 
        return (true); 
      }

      virtual void 
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
              PointCloud2 &output) = 0;

      virtual void
      subscribe();

      virtual void
      unsubscribe();

      virtual void 
      onInit ();

      void 
      computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices);

    private:
      boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices> > >       sync_input_indices_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices> > > sync_input_indices_a_;

      virtual void 
      config_callback (pcl_ros::FilterConfig &config, uint32_t level);

      void 
      input_indices_callback (const PointCloud2::ConstPtr &cloud, 
                              const PointIndicesConstPtr &indices);
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_FILTER_H_