filtering.hpp

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#ifndef _FILTERING_HPP_
#define _FILTERING_HPP_

#include "filtering.h"

template <class T>
void filtering<T>::filter(const sensor_msgs::PointCloud2Ptr& msg)
{
    ROS_ERROR("Voxel filtering dissabled, must correct for ROS::HYDRO");
//     /// Pass through a square voxel grid
//     sensor_msgs::PointCloud2 msg_filt;
//     msg_filt = voxel_filter(msg,voxel_size);
//     
//     /// Transform to atc/center/bumper
//     PointCloud<T> cloud_voxelized;
//     fromROSMsg(msg_filt,cloud_voxelized);
//   
//     tf::StampedTransform transform;
//     try
//     {
//      transform_listener_ptr->lookupTransform(frame_id, msg->header.frame_id, ros::Time(0), transform);
//     }
//     catch (tf::TransformException ex)
//     {
//      ROS_ERROR("%s",ex.what());
//     }
// 
//     PointCloud<T> cloud_trans;
//     pcl_ros::transformPointCloud (cloud_voxelized,cloud_trans,transform);
//     cloud_trans.header.frame_id=frame_id;
//     
//     /// Cutting the point cloud
//     points_from_volume<T> pfv;
//     PointCloud<T> cloud_cut;
//     cloud_cut.header.frame_id=frame_id;
//     pfv.set_convex_hull(convex_hull);
//     pfv.convexhull_function(cloud_trans, max_z,min_z, false);
//     cloud_cut=pfv.get_pc_in_volume();
//     
//     toROSMsg(cloud_cut,msg_filt);
//         
//     /// Publish the result
//     pub_ptr->publish(msg_filt);
};

template <class T>
sensor_msgs::PointCloud2 filtering<T>::voxel_filter(const sensor_msgs::PointCloud2Ptr& msg_in, double voxel_size)
{
    ROS_ERROR("Voxel filtering dissabled, must correct for ROS::HYDRO");
//     sensor_msgs::PointCloud2 msg_out;
//     VoxelGrid<sensor_msgs::PointCloud2> sor;
// //     sensor_msgs::PointCloud2ConstPtr batatas (new sensor_msgs::PointCloud2 (msg_in));
//     sor.setInputCloud(msg_in);
//     sor.setLeafSize (voxel_size, voxel_size, voxel_size);
//     sor.filter (msg_out);
//     return msg_out;
};

#endif