project_inliers.h
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00001 /*
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00034  * $Id: project_inliers.h 35876 2011-02-09 01:04:36Z rusu $
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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_


pcl_ros
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:22:23