00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: passthrough.h 35876 2011-02-09 01:04:36Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_ 00039 #define PCL_ROS_FILTERS_PASSTHROUGH_H_ 00040 00041 // PCL includes 00042 #include <pcl/filters/passthrough.h> 00043 #include "pcl_ros/filters/filter.h" 00044 00045 namespace pcl_ros 00046 { 00051 class PassThrough : public Filter 00052 { 00053 protected: 00055 boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > srv_; 00056 00062 inline void 00063 filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 00064 PointCloud2 &output) 00065 { 00066 boost::mutex::scoped_lock lock (mutex_); 00067 impl_.setInputCloud (input); 00068 impl_.setIndices (indices); 00069 impl_.filter (output); 00070 } 00071 00076 bool 00077 child_init (ros::NodeHandle &nh, bool &has_service); 00078 00083 void 00084 config_callback (pcl_ros::FilterConfig &config, uint32_t level); 00085 00086 private: 00088 pcl::PassThrough<sensor_msgs::PointCloud2> impl_; 00089 public: 00090 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00091 }; 00092 } 00093 00094 #endif //#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_