Program Listing for File extract_polygonal_prism_data.hpp
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* $Id: extract_polygonal_prism_data.h 35361 2011-01-20 04:34:49Z rusu $
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#ifndef PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
#define PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/pass_through.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <dynamic_reconfigure/server.h>
#include "pcl_ros/ExtractPolygonalPrismDataConfig.hpp"
#include "pcl_ros/pcl_nodelet.hpp"
namespace pcl_ros
{
namespace sync_policies = message_filters::sync_policies;
class ExtractPolygonalPrismData : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
protected:
ros::Publisher pub_output_;
message_filters::Subscriber<PointCloud> sub_hull_filter_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud, PointCloud,
PointIndices>>> sync_input_hull_indices_e_;
boost::shared_ptr<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud,
PointCloud, PointIndices>>> sync_input_hull_indices_a_;
boost::shared_ptr<dynamic_reconfigure::Server<ExtractPolygonalPrismDataConfig>> srv_;
message_filters::PassThrough<PointIndices> nf_;
inline void
input_callback(const PointCloudConstPtr & input)
{
PointIndices cloud;
cloud.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
nf_.add(boost::make_shared<PointIndices>(cloud));
}
void onInit();
void subscribe();
void unsubscribe();
void config_callback(ExtractPolygonalPrismDataConfig & config, uint32_t level);
void input_hull_indices_callback(
const PointCloudConstPtr & cloud,
const PointCloudConstPtr & hull,
const PointIndicesConstPtr & indices);
private:
pcl::ExtractPolygonalPrismData<pcl::PointXYZ> impl_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // namespace pcl_ros
#endif // PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_