statistical_outlier_removal.cpp
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00001 /*
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00034  * $Id: statistical_outlier_removal.cpp 35876 2011-02-09 01:04:36Z rusu $
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00036  */
00037 
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pcl_ros/filters/statistical_outlier_removal.h"
00040 
00042 bool
00043 pcl_ros::StatisticalOutlierRemoval::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::StatisticalOutlierRemovalConfig> > (nh);
00048   dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, _1, _2);
00049   srv_->setCallback (f);
00050 
00051   return (true);
00052 }
00053 
00055 void
00056 pcl_ros::StatisticalOutlierRemoval::config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level)
00057 {
00058   boost::mutex::scoped_lock lock (mutex_);
00059 
00060   if (impl_.getMeanK () != config.mean_k)
00061   {
00062     impl_.setMeanK (config.mean_k);
00063     NODELET_DEBUG ("[%s::config_callback] Setting the number of points (k) to use for mean distance estimation to: %d.", getName ().c_str (), config.mean_k);
00064   }
00065   
00066   if (impl_.getStddevMulThresh () != config.stddev)
00067   {
00068     impl_.setStddevMulThresh (config.stddev);
00069     NODELET_DEBUG ("[%s::config_callback] Setting the standard deviation multiplier threshold to: %f.", getName ().c_str (), config.stddev);
00070   }
00071 
00072   if (impl_.getNegative () != config.negative)
00073   {
00074     impl_.setNegative (config.negative);
00075     NODELET_DEBUG ("[%s::config_callback] Returning only inliers: %s.", getName ().c_str (), config.negative ? "false" : "true");
00076   }
00077 }
00078 
00079 typedef pcl_ros::StatisticalOutlierRemoval StatisticalOutlierRemoval;
00080 PLUGINLIB_DECLARE_CLASS (pcl, StatisticalOutlierRemoval, StatisticalOutlierRemoval, nodelet::Nodelet);
00081 
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41