intensity_filter.h

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*  \author Vijay Pradeep, Rein Appeldoorn
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#pragma once
 
#include <dynamic_reconfigure/server.h>
#include <filters/filter_base.hpp>
#include <laser_filters/IntensityFilterConfig.h>
#include <sensor_msgs/LaserScan.h>
 
namespace laser_filters
{
class LaserScanIntensityFilter : public filters::FilterBase<sensor_msgs::LaserScan>
{
public:
  LaserScanIntensityFilter();
  bool configure();
  bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& output_scan);
 
private:
  std::shared_ptr<dynamic_reconfigure::Server<IntensityFilterConfig>> dyn_server_;
  void reconfigureCB(IntensityFilterConfig& config, uint32_t level);
  boost::recursive_mutex own_mutex_;
 
  IntensityFilterConfig config_ = IntensityFilterConfig::__getDefault__();
};
}