bilateral_filter.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2014, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
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00014  *   * Redistributions in binary form must reproduce the above
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_BILATERAL_FILTER_H_
00038 #define JSK_PCL_ROS_BILATERAL_FILTER_H_
00039 
00040 #include <pcl_ros/publisher.h>
00041 #include <jsk_topic_tools/connection_based_nodelet.h>
00042 #include "jsk_pcl_ros/pcl_conversion_util.h"
00043 #include <jsk_pcl_ros/BilateralFilterConfig.h>
00044 #include <dynamic_reconfigure/server.h>
00045 
00046 namespace jsk_pcl_ros
00047 {
00049   // Copied from pcl/point_types_conversion.h
00050   // in order to avoid pcl 1.7.1 bug.
00051   // It should be solved on pcl 1.7.2.
00053   inline void 
00054   PointXYZRGBtoXYZI (pcl::PointXYZRGB&  in,
00055                      pcl::PointXYZI&    out)
00056   {
00057     out.x = in.x; out.y = in.y; out.z = in.z;
00058     out.intensity = 0.299f * static_cast <float> (in.r) + 0.587f * static_cast 
00059       <float> (in.g) + 0.114f * static_cast <float> (in.b);
00060   }
00061 
00062   inline void 
00063   PointCloudXYZRGBtoXYZI (pcl::PointCloud<pcl::PointXYZRGB>& in,
00064                           pcl::PointCloud<pcl::PointXYZI>& out)
00065   {
00066     out.width   = in.width;
00067     out.height  = in.height;
00068     for (size_t i = 0; i < in.points.size (); i++)
00069     {
00070       pcl::PointXYZI p;
00071       PointXYZRGBtoXYZI (in.points[i], p);
00072       out.points.push_back (p);
00073     }
00074   }
00075 
00076   
00077   class BilateralFilter: public jsk_topic_tools::ConnectionBasedNodelet
00078   {
00079   public:
00080     typedef boost::shared_ptr<BilateralFilter> Ptr;
00081     typedef pcl::PointXYZRGB PointT;
00082     typedef BilateralFilterConfig Config;
00083   protected:
00085     // methods
00087     virtual void onInit();
00088 
00089     virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
00090 
00091     virtual void subscribe();
00092     virtual void unsubscribe();
00093 
00094     virtual void configCallback(Config &config, uint32_t level);
00095     
00097     // ROS variables
00099     boost::mutex mutex_;
00100     ros::Subscriber sub_;
00101     ros::Publisher pub_;
00102     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00103     
00105     // parameters for bilateral filter
00107     double sigma_s_;
00108     double sigma_r_;
00109     
00110   private:
00111     
00112     
00113   };
00114 }
00115 
00116 
00117 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47