organized_pass_through.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_ORGANIZED_PASS_THROUGH_H_
#define JSK_PCL_ROS_ORGANIZED_PASS_THROUGH_H_
 
#include <pcl_ros/pcl_nodelet.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_topic_tools/counter.h>
#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/OrganizedPassThroughConfig.h"
 
namespace jsk_pcl_ros
{
  class OrganizedPassThrough: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef jsk_pcl_ros::OrganizedPassThroughConfig Config;
    typedef pcl::PointXYZRGB PointT;
    OrganizedPassThrough();
  protected:
    // methods
    virtual void onInit();
    
    virtual void subscribe();
    
    virtual void unsubscribe();
    
    virtual void configCallback (Config &config, uint32_t level);
    
    virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
 
    virtual pcl::PointIndices::Ptr filterIndices(const pcl::PointCloud<PointT>::Ptr& pc);
    
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
 
      // pcl removed the method by 1.13, no harm in defining it ourselves to use below
#if __cplusplus >= 201103L
#define pcl_isfinite(x) std::isfinite(x)
#endif
 
    bool isPointNaN(const PointT& p) {
      return (!pcl_isfinite(p.x) || !pcl_isfinite(p.y) || !pcl_isfinite(p.z));
    }
 
    // ROS variables
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
 
    // Diagnostics variables
    jsk_topic_tools::Counter filtered_points_counter_;
    
    enum FilterField
    {
      FIELD_X, FIELD_Y
    };
    
    // Parameters
    FilterField filter_field_;
    int min_index_;
    int max_index_;
    bool filter_limit_negative_;
    bool keep_organized_;
    bool remove_nan_;
  private:
    
  };
}
 
#endif