filtering.h

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#ifndef _FILTERING_H_
#define _FILTERING_H_

// ROS includes.
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>

// PCL includes
#include <pcl/point_types.h>
#include <pcl/conversions.h>
#include <pcl/filters/voxel_grid.h>

// LAR includes
#include <points_from_volume/points_from_volume.h>

#ifndef PFLN
    #define PFLN printf("LINE= %d in FILE=%s \n", __LINE__, __FILE__);
#endif

using namespace std;
using namespace pcl;


template<class T>
class filtering
{
public:
    
    filtering()
    {
    };
    
    ~filtering()
    {
    };
    
    //  VARIABLES
    
    PointCloud<T> pc_in;
    
    PointCloud<T> pc_out;
    
    PointCloud<T> convex_hull;
    
    double voxel_size;
    
    double max_z;
    
    double min_z;
    
    ros::Publisher *pub_ptr;
    
    tf::TransformListener *transform_listener_ptr;
    
    string frame_id;
    
    // FUNCTIONS
        
    void filter(const sensor_msgs::PointCloud2Ptr& msg);
        
    sensor_msgs::PointCloud2 voxel_filter(const sensor_msgs::PointCloud2Ptr& msg_in, double voxel_size);
       
};

#include "filtering.hpp"

#endif