moving_least_squares.h

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 * $Id: moving_least_squares.h 36097 2011-02-20 14:18:58Z marton $
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#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
#define PCL_ROS_MOVING_LEAST_SQUARES_H_

#include "pcl_ros/pcl_nodelet.h"

// PCL includes
#include <pcl/surface/mls.h>
#include <pcl/kdtree/kdtree.h> // for KdTree

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

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class MovingLeastSquares : public PCLNodelet
  {
    typedef pcl::PointXYZ PointIn;
    typedef pcl::PointNormal NormalOut;

    typedef pcl::PointCloud<PointIn> PointCloudIn;
    typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
    typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
    typedef pcl::PointCloud<NormalOut> NormalCloudOut;

    typedef pcl::KdTree<PointIn> KdTree;
    typedef pcl::KdTree<PointIn>::Ptr KdTreePtr; 

    protected:
      PointCloudInConstPtr surface_;

      KdTreePtr tree_;

      double search_radius_;

      //int k_;

      bool use_polynomial_fit_;

      int polynomial_order_;

      double gaussian_parameter_;

      // ROS nodelet attributes
      message_filters::Subscriber<PointCloudIn> sub_surface_filter_;
      
      int spatial_locator_type_;
    
      boost::shared_ptr <dynamic_reconfigure::Server<MLSConfig> > srv_;

      void config_callback (MLSConfig &config, uint32_t level); 

      virtual void onInit ();

      virtual void subscribe ();
      virtual void unsubscribe ();

    private:
      void input_indices_callback (const PointCloudInConstPtr &cloud, 
                                   const PointIndicesConstPtr &indices);


    private:
      pcl::MovingLeastSquares<PointIn, NormalOut> impl_;
      
      ros::Subscriber sub_input_;

      ros::Publisher pub_normals_;

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

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_