filtering_nodelet.cpp

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#include <pointcloud_segmentation/filtering.h>

int main(int argc, char **argv)
{
    // Set up ROS.
    ros::init(argc, argv, "listener");
    ros::NodeHandle n;
    
    // Variables from launch file
    string pointcloud_input;
    string pointcloud_output;
    string laser_input;
    double min_x, max_x, min_y, max_y;
    
    // Create a filtering class object and make the proper setup
    filtering<PointXYZRGB> * filt = new filtering<PointXYZRGB> ();
        
    // Initialize ros parameters
    ros::NodeHandle private_node_handle_("~");
    private_node_handle_.param("pointcloud_input", pointcloud_input, string("pointcloud_input"));
    private_node_handle_.param("pointcloud_output", pointcloud_output, string("pointcloud_output"));
    private_node_handle_.param("frame_id", filt->frame_id, string("frame_id"));
    
    private_node_handle_.param("voxel_size", filt->voxel_size, double(filt->voxel_size));
    private_node_handle_.param("min_x", min_x, double(min_x));
    private_node_handle_.param("max_x", max_x, double(max_x));
    private_node_handle_.param("min_y", min_y, double(min_y));
    private_node_handle_.param("max_y", max_y, double(max_y));
    private_node_handle_.param("min_z", filt->min_z, double(filt->min_z));
    private_node_handle_.param("max_z", filt->max_z, double(filt->max_z));
    
    // Set the convex hull properties
    PointXYZRGB point; point.z=0.0;
    point.x=min_x; point.y=max_y;
    filt->convex_hull.points.push_back(point);
    point.x=max_x; point.y=max_y;
    filt->convex_hull.points.push_back(point);
    point.x=max_x; point.y=min_y;
    filt->convex_hull.points.push_back(point);
    point.x=min_x; point.y=min_y;
    filt->convex_hull.points.push_back(point);
    filt->convex_hull.header.frame_id=filt->frame_id;
    
    
    // Subscribe a pointcloud message
    ros::Subscriber sub_cloud = n.subscribe(pointcloud_input.c_str(), 1000, &filtering<PointXYZRGB>::filter, filt);
        
    // Publish a pointcloud message
    ros::Publisher pub_message = n.advertise<sensor_msgs::PointCloud2>(pointcloud_output.c_str(), 10);
    
    // Pass a pub pointer to the class object
    filt->pub_ptr=&pub_message;
    
    // Pass a listener transform to class object
    tf::TransformListener listener_center_bumper;
    filt->transform_listener_ptr=&listener_center_bumper;
    
    // Main loop.
    while (n.ok())
    {
        ros::spinOnce();
    }
    
    return 0;
}