Program Listing for File filter.hpp

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

#include <memory>
#include <string>
#include <vector>
#include "pcl_ros/pcl_node.hpp"

namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;

class Filter : public PCLNode<sensor_msgs::msg::PointCloud2>
{
public:
  typedef sensor_msgs::msg::PointCloud2 PointCloud2;

  typedef pcl::IndicesPtr IndicesPtr;
  typedef pcl::IndicesConstPtr IndicesConstPtr;

  Filter(std::string node_name, const rclcpp::NodeOptions & options);

protected:
  void
  use_frame_params();

  std::vector<std::string> add_common_params();

  rclcpp::Subscription<PointCloud2>::SharedPtr 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_;

  std::mutex mutex_;

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

  virtual void
  subscribe();

  virtual void
  unsubscribe();

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

private:
  OnSetParametersCallbackHandle::SharedPtr callback_handle_;

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

  rcl_interfaces::msg::SetParametersResult
  config_callback(const std::vector<rclcpp::Parameter> & params);

  void
  input_indices_callback(
    const PointCloud2::ConstSharedPtr & cloud,
    const PointIndices::ConstSharedPtr & indices);

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pcl_ros

#endif  // PCL_ROS__FILTERS__FILTER_HPP_