organized_pass_through.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
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  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_ORGANIZED_PASS_THROUGH_H_
00038 #define JSK_PCL_ROS_ORGANIZED_PASS_THROUGH_H_
00039 
00040 #include <pcl_ros/pcl_nodelet.h>
00041 #include <jsk_topic_tools/diagnostic_nodelet.h>
00042 #include <jsk_topic_tools/counter.h>
00043 #include <dynamic_reconfigure/server.h>
00044 #include "jsk_pcl_ros/OrganizedPassThroughConfig.h"
00045 
00046 namespace jsk_pcl_ros
00047 {
00048   class OrganizedPassThrough: public jsk_topic_tools::DiagnosticNodelet
00049   {
00050   public:
00051     typedef jsk_pcl_ros::OrganizedPassThroughConfig Config;
00052     typedef pcl::PointXYZRGB PointT;
00053     OrganizedPassThrough();
00054   protected:
00056     // methods
00058     virtual void onInit();
00059     
00060     virtual void subscribe();
00061     
00062     virtual void unsubscribe();
00063     
00064     virtual void configCallback (Config &config, uint32_t level);
00065     
00066     virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
00067 
00068     virtual pcl::PointIndices::Ptr filterIndices(const sensor_msgs::PointCloud2::ConstPtr& msg);
00069     
00070     virtual void updateDiagnostic(
00071       diagnostic_updater::DiagnosticStatusWrapper &stat);
00072 
00074     // ROS variables
00076     ros::Subscriber sub_;
00077     ros::Publisher pub_;
00078     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00079     boost::mutex mutex_;
00080 
00082     // Diagnostics variables
00084     jsk_topic_tools::Counter filtered_points_counter_;
00085     
00086     enum FilterField
00087     {
00088       FIELD_X, FIELD_Y
00089     };
00090     
00092     // Parameters
00094     FilterField filter_field_;
00095     int min_index_;
00096     int max_index_;
00097     bool filter_limit_negative_;
00098     bool keep_organized_;
00099   private:
00100     
00101   };
00102 }
00103 
00104 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:48