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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
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
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
00069 impl_.setFilterLimits (filter_min, filter_max);
00070 }
00071
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
00077 impl_.setFilterLimits (filter_min, filter_max);
00078 }
00079
00080
00081
00082 if (impl_.getFilterFieldName () != config.filter_field_name)
00083 {
00084
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
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
00094 impl_.setKeepOrganized (config.keep_organized);
00095 }
00096
00097
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
00102 impl_.setFilterLimitsNegative (config.filter_limit_negative);
00103 }
00104
00105
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_EXPORT_CLASS(PassThrough,nodelet::Nodelet);
00120