Program Listing for File moving_least_squares.hpp

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 * $Id: moving_least_squares.h 36097 2011-02-20 14:18:58Z marton $
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#ifndef PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_
#define PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_

#include <pcl/surface/mls.h>
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/pcl_nodelet.hpp"
#include "pcl_ros/MLSConfig.hpp"

namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;

class MovingLeastSquares : public PCLNodelet
{
  typedef pcl::PointXYZ PointIn;
  typedef pcl::PointNormal NormalOut;

  typedef pcl::PointCloud<PointIn> PointCloudIn;
  typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
  typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
  typedef pcl::PointCloud<NormalOut> NormalCloudOut;

  typedef pcl::KdTree<PointIn> KdTree;
  typedef pcl::KdTree<PointIn>::Ptr KdTreePtr;

protected:
  PointCloudInConstPtr surface_;

  KdTreePtr tree_;

  double search_radius_;

  // int k_;

  bool use_polynomial_fit_;

  int polynomial_order_;

  double gaussian_parameter_;

  // ROS nodelet attributes
  message_filters::Subscriber<PointCloudIn> sub_surface_filter_;

  int spatial_locator_type_;

  boost::shared_ptr<dynamic_reconfigure::Server<MLSConfig>> srv_;

  void config_callback(MLSConfig & config, uint32_t level);

  virtual void onInit();

  virtual void subscribe();
  virtual void unsubscribe();

private:
  void input_indices_callback(
    const PointCloudInConstPtr & cloud,
    const PointIndicesConstPtr & indices);

private:
  pcl::MovingLeastSquares<PointIn, NormalOut> impl_;

  ros::Subscriber sub_input_;

  ros::Publisher pub_normals_;

  boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn,
    PointIndices>>> sync_input_indices_e_;
  boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn,
    PointIndices>>> sync_input_indices_a_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pcl_ros

#endif  // PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_