organized_statistical_outlier_removal.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_ORGANIZED_STATISTICAL_OUTLIER_REMOVAL_H_
#define JSK_PCL_ROS_ORGANIZED_STATISTICAL_OUTLIER_REMOVAL_H_
 
#include <pcl/pcl_base.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 <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
 
#include "sensor_msgs/PointCloud2.h"
#include "jsk_recognition_msgs/ClusterPointIndices.h"
 
#include "jsk_pcl_ros/OrganizedStatisticalOutlierRemovalConfig.h"
 
namespace jsk_pcl_ros
{
  class OrganizedStatisticalOutlierRemoval: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef jsk_pcl_ros::OrganizedStatisticalOutlierRemovalConfig Config;
    typedef message_filters::sync_policies::ExactTime<
    sensor_msgs::PointCloud2,
    jsk_recognition_msgs::ClusterPointIndices > SyncPolicy;
    typedef message_filters::sync_policies::ApproximateTime<
    sensor_msgs::PointCloud2,
    jsk_recognition_msgs::ClusterPointIndices > ApproximateSyncPolicy;
    OrganizedStatisticalOutlierRemoval();
  protected:
    // methods
    virtual void onInit();
 
    virtual void subscribe();
 
    virtual void unsubscribe();
 
    virtual void configCallback (Config &config, uint32_t level);
 
    void filter(const pcl::PCLPointCloud2::Ptr pcl_cloud,
                pcl::PointIndices::Ptr pcl_indices_filtered);
    void filter(const pcl::PCLPointCloud2::Ptr pcl_cloud,
                const pcl::PointIndices::Ptr pcl_indices,
                pcl::PointIndices::Ptr pcl_indices_filtered);
    std::vector<int> getFilteredIndices(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
    void filterCloud(const sensor_msgs::PointCloud2::ConstPtr& msg);
    void filterCloudWithClusterPointIndices(
            const sensor_msgs::PointCloud2::ConstPtr& msg,
            const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& cpi_msg);
 
 
    void updateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &stat);
 
    // ROS variables
    ros::Subscriber sub_;
    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_cloud_;
    message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> sub_cpi_;
    boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> >sync_;
    boost::shared_ptr<message_filters::Synchronizer<ApproximateSyncPolicy> >async_;
 
    ros::Publisher pub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
 
    // Diagnostics variables
 
    // Parameters
    bool use_cpi_;
    bool use_async_;
    int queue_size_;
    bool keep_organized_;
    bool negative_;
    double std_mul_;
    int mean_k_;
  private:
 
  };
}
 
#endif