passthrough.cpp
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00001 /*
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00034  * $Id: passthrough.cpp 36194 2011-02-23 07:49:21Z rusu $
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00036  */
00037 
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pcl_ros/filters/passthrough.h"
00040 
00042 bool
00043 pcl_ros::PassThrough::child_init (ros::NodeHandle &nh, bool &has_service)
00044 {
00045   // Enable the dynamic reconfigure service
00046   has_service = true;
00047   srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::FilterConfig> > (nh);
00048   dynamic_reconfigure::Server<pcl_ros::FilterConfig>::CallbackType f = boost::bind (&PassThrough::config_callback, this, _1, _2);
00049   srv_->setCallback (f);
00050 
00051   return (true);
00052 }
00053 
00055 void
00056 pcl_ros::PassThrough::config_callback (pcl_ros::FilterConfig &config, uint32_t level)
00057 {
00058   boost::mutex::scoped_lock lock (mutex_);
00059 
00060   double filter_min, filter_max;
00061   impl_.getFilterLimits (filter_min, filter_max);
00062 
00063   // Check the current values for filter min-max
00064   if (filter_min != config.filter_limit_min)
00065   {
00066     filter_min = config.filter_limit_min;
00067     NODELET_DEBUG ("[%s::config_callback] Setting the minimum filtering value a point will be considered from to: %f.", getName ().c_str (), filter_min);
00068     // Set the filter min-max if different
00069     impl_.setFilterLimits (filter_min, filter_max);
00070   }
00071   // Check the current values for filter min-max
00072   if (filter_max != config.filter_limit_max)
00073   {
00074     filter_max = config.filter_limit_max;
00075     NODELET_DEBUG ("[%s::config_callback] Setting the maximum filtering value a point will be considered from to: %f.", getName ().c_str (), filter_max);
00076     // Set the filter min-max if different
00077     impl_.setFilterLimits (filter_min, filter_max);
00078   }
00079 
00080   // Check the current value for the filter field
00081   //std::string filter_field = impl_.getFilterFieldName ();
00082   if (impl_.getFilterFieldName () != config.filter_field_name)
00083   {
00084     // Set the filter field if different
00085     impl_.setFilterFieldName (config.filter_field_name);
00086     NODELET_DEBUG ("[%s::config_callback] Setting the filter field name to: %s.", getName ().c_str (), config.filter_field_name.c_str ());
00087   }
00088 
00089   // Check the current value for keep_organized
00090   if (impl_.getKeepOrganized () != config.keep_organized)
00091   {
00092     NODELET_DEBUG ("[%s::config_callback] Setting the filter keep_organized value to: %s.", getName ().c_str (), config.keep_organized ? "true" : "false");
00093     // Call the virtual method in the child
00094     impl_.setKeepOrganized (config.keep_organized);
00095   }
00096 
00097   // Check the current value for the negative flag
00098   if (impl_.getFilterLimitsNegative () != config.filter_limit_negative)
00099   {
00100     NODELET_DEBUG ("[%s::config_callback] Setting the filter negative flag to: %s.", getName ().c_str (), config.filter_limit_negative ? "true" : "false");
00101     // Call the virtual method in the child
00102     impl_.setFilterLimitsNegative (config.filter_limit_negative);
00103   }
00104 
00105   // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
00106   if (tf_input_frame_ != config.input_frame)
00107   {
00108     tf_input_frame_ = config.input_frame;
00109     NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ());
00110   }
00111   if (tf_output_frame_ != config.output_frame)
00112   {
00113     tf_output_frame_ = config.output_frame;
00114     NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ());
00115   }
00116 }
00117 
00118 typedef pcl_ros::PassThrough PassThrough;
00119 PLUGINLIB_DECLARE_CLASS (pcl, PassThrough, PassThrough, nodelet::Nodelet);
00120 
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41