pcdfilter_pa_ros.h

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* pcdfilter_pa_ros.h                                                          *
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#ifndef __PCD_FILTER_PA_ROS_H
#define __PCD_FILTER_PA_ROS_H

// local headers
#include "pcdfilter_pa/pcdfilter_pa.h"
#include "pcdfilter_pa/pcdfilter_pa_ros_parameter.h"
#include "pcdfilter_pa/pcdfilter_pa_ros_throttle.h"
#include "pcdfilter_pa/pcdfilter_pa_ros_filter.h"

// ros headers
#include <ros/ros.h>

#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/LaserScan.h>

#include <tf/transform_datatypes.h>

// additional libraries
#include <opencv2/highgui/highgui.hpp>

// standard headers
#include <string>

//**************************[cPcdFilterPaRos]**********************************
class cPcdFilterPaRos : public cPcdFilterPa {
  public:

    cPcdFilterPaRos();

    ~cPcdFilterPaRos();

    sensor_msgs::PointCloud2Ptr convertCloud(
      const sensor_msgs::PointCloudConstPtr &msg) const;

    sensor_msgs::PointCloud2Ptr convertCloud(
      const sensor_msgs::LaserScanConstPtr &msg) const;

    bool updateTf( const tf::TransformListener &tf_listener,
        const std::string base_frame,
        const ros::Time time = ros::Time::now());

    bool updateTf( const tf::TransformListener &tf_listener);

    bool filterCloud(const sensor_msgs::PointCloud2ConstPtr &msg,
      sensor_msgs::PointCloud2Ptr &result);

    bool filterCloud(sensor_msgs::PointCloud2Ptr &result);

    const cv::Mat convertCloudToOpencv(
      const sensor_msgs::PointCloud2ConstPtr &msg,
      const bool force_copy = false) const;

    sensor_msgs::PointCloud2Ptr applyMasktoCloud(
      const sensor_msgs::PointCloud2ConstPtr cloud,
      const std::vector<bool> mask) const;


    cPcdFilterPaRosThrottle input_throttle_;

    cPcdFilterPaRosFilters filters_;

    cPcdFilterPaRosParameter rosparams_;

    cv::Mat pcd_buffered_points_;
    sensor_msgs::PointCloud2ConstPtr pcd_buffered_msg_;

};


#endif // __PCD_FILTER_PA_ROS_H