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: project_inliers.h 35876 2011-02-09 01:04:36Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_ 00039 #define PCL_ROS_FILTERS_PROJECT_INLIERS_H_ 00040 00041 // PCL includes 00042 #include <pcl/filters/project_inliers.h> 00043 #include "pcl_ros/filters/filter.h" 00044 00045 #include <message_filters/subscriber.h> 00046 00047 namespace pcl_ros 00048 { 00049 namespace sync_policies = message_filters::sync_policies; 00050 00056 class ProjectInliers : public Filter 00057 { 00058 public: 00059 ProjectInliers () : model_ () {} 00060 00061 protected: 00067 inline void 00068 filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 00069 PointCloud2 &output) 00070 { 00071 impl_.setInputCloud (input); 00072 impl_.setIndices (indices); 00073 impl_.setModelCoefficients (model_); 00074 impl_.filter (output); 00075 } 00076 00077 private: 00079 ModelCoefficientsConstPtr model_; 00080 00082 message_filters::Subscriber<ModelCoefficients> sub_model_; 00083 00085 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_e_; 00086 boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2, PointIndices, ModelCoefficients> > > sync_input_indices_model_a_; 00088 pcl::ProjectInliers<PointCloud2> impl_; 00089 00091 virtual void 00092 onInit (); 00093 00095 void 00096 input_indices_model_callback (const PointCloud2::ConstPtr &cloud, 00097 const PointIndicesConstPtr &indices, 00098 const ModelCoefficientsConstPtr &model); 00099 public: 00100 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00101 }; 00102 } 00103 00104 #endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_