octomap_filter_ground.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 *
 * This file 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 file 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 file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef OCTOMAP_FILTER_GROUND_H_
#define OCTOMAP_FILTER_GROUND_H_

#include "octomap_filter_base.h"

namespace srs_env_model
{
class COcFilterGround : public COcTreeFilterBase
{
public:
        COcFilterGround(const std::string & octree_frame_id, ERunMode mode = FILTER_ALLWAYS);

        virtual void writeLastRunInfo()
        {
                std::cerr << "COcFilterGround: Ground cloud size: " << m_groundPc->points.size()<< std::endl;
                std::cerr << "COcFilterGround: Non ground cloud size: " << m_nongroundPc->points.size()<< std::endl;
        }

        virtual void init(ros::NodeHandle & node_handle);

        void setCloud(const tPointCloud * cloud);

        tPointCloud * getGroundPc() { return m_groundPc; }

        tPointCloud * getNongroundPc() { return m_nongroundPc; }

protected:
        virtual void filterInternal(tButServerOcTree & tree);

protected:
        long m_numSpecRemoved;

        const tPointCloud * m_inputPc;

        tPointCloud * m_groundPc;

        tPointCloud * m_nongroundPc;

        double m_groundFilterDistance;
        double m_groundFilterAngle;
        double m_groundFilterPlaneDistance;
};

} // namespace srs_env_model


#endif /* OCTOMAP_FILTER_GROUND_H_ */