organized_statistical_outlier_removal.h

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// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_ORGANIZED_STATISTICAL_OUTLIER_REMOVAL_H_
#define JSK_PCL_ROS_ORGANIZED_STATISTICAL_OUTLIER_REMOVAL_H_
 
#include <pcl/pcl_base.h>
#include <pcl_ros/pcl_nodelet.h>
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <jsk_topic_tools/counter.h>
#include <dynamic_reconfigure/server.h>
#include "jsk_pcl_ros/OrganizedStatisticalOutlierRemovalConfig.h"
 
namespace jsk_pcl_ros
{
  class OrganizedStatisticalOutlierRemoval: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef jsk_pcl_ros::OrganizedStatisticalOutlierRemovalConfig Config;
    typedef pcl::PointXYZRGB PointT;
    OrganizedStatisticalOutlierRemoval();
  protected:
    // methods
    virtual void onInit();
 
    virtual void subscribe();
 
    virtual void unsubscribe();
 
    virtual void configCallback (Config &config, uint32_t level);
 
    virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
 
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
 
    // ROS variables
    ros::Subscriber sub_;
    ros::Publisher pub_;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
    boost::mutex mutex_;
 
    // Diagnostics variables
 
    // Parameters
    bool keep_organized_;
    bool negative_;
    double std_mul_;
    int mean_k_;
  private:
 
  };
}
 
#endif