pointcloud_to_mesh_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _pointcloud_to_mesh_alg_h_
#define _pointcloud_to_mesh_alg_h_

#include <iri_pointcloud_to_mesh/PointCloudToMeshConfig.h>
#include "mutex.h"

// [PCL_ROS]
#include "pcl/point_types.h"
#include "pcl/io/pcd_io.h"
#include "pcl/kdtree/kdtree_flann.h"
#include "pcl/features/normal_3d.h"
#include "pcl/surface/gp3.h"
#include <pcl/io/vtk_io.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>

//include pointcloud_to_mesh_alg main library

class PointCloudToMeshAlgorithm
{
  private:
    double down_res_; 
    double radius_; 
    double mu_; 
    unsigned int num_neigh_;
    double max_surf_angle_;
    double min_ang_;
    double max_ang_;
    bool norm_consistency_;
    
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_pointcloud_to_mesh::PointCloudToMeshConfig Config;

    Config config_;

    PointCloudToMeshAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all pointcloud_to_mesh_alg interface methods to retrieve and set
    // the driver parameters

    bool compute_mesh(const sensor_msgs::PointCloud2::ConstPtr& msg);
    bool compute_mesh(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud);
    void set_down_res(double down_res);
    void set_radius(double radius);
    void set_mu(double mu);
    void set_num_of_neigh(unsigned int num_neigh);
    void set_max_surface_angle(double max_surf_angle);
    void set_min_angle(double min_ang);
    void set_max_angle(double max_ang);
    void set_normal_consistency(bool norm_consistency);

    ~PointCloudToMeshAlgorithm(void);
};

#endif