project_inliers.h

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

// PCL includes
#include <pcl/filters/project_inliers.h>
#include "pcl_ros/filters/filter.h"

#include <message_filters/subscriber.h>

namespace pcl_ros
{
  namespace sync_policies = message_filters::sync_policies;

  class ProjectInliers : public Filter
  {
    public:
      ProjectInliers () : model_ () {}

    protected:
      inline void
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
              PointCloud2 &output)
      {
        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
        pcl_conversions::toPCL (*(input), *(pcl_input));
        impl_.setInputCloud (pcl_input);
        impl_.setIndices (indices);
        pcl::ModelCoefficients::Ptr pcl_model(new pcl::ModelCoefficients);
        pcl_conversions::toPCL(*(model_), *(pcl_model));
        impl_.setModelCoefficients (pcl_model);
        pcl::PCLPointCloud2 pcl_output;
        impl_.filter (pcl_output);
        pcl_conversions::moveFromPCL(pcl_output, output);
      }

    private:
      ModelCoefficientsConstPtr model_;

      message_filters::Subscriber<ModelCoefficients> sub_model_;

      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_e_;
      boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_a_;
      pcl::ProjectInliers<pcl::PCLPointCloud2> impl_;

      virtual void 
      onInit ();

      void subscribe ();
      void unsubscribe ();

      void 
      input_indices_model_callback (const PointCloud2::ConstPtr &cloud, 
                                    const PointIndicesConstPtr &indices, 
                                    const ModelCoefficientsConstPtr &model);
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_