radius_outlier_removal.cpp
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00001 /*
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00034  * $Id: radius_outlier_removal.cpp 33319 2010-10-15 04:49:28Z rusu $
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00036  */
00037 
00038 #include <pluginlib/class_list_macros.h>
00039 #include "pcl_ros/filters/radius_outlier_removal.h"
00040 
00042 bool
00043 pcl_ros::RadiusOutlierRemoval::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::RadiusOutlierRemovalConfig> > (nh);
00048   dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, _1, _2);
00049   srv_->setCallback (f);
00050 
00051   return (true);
00052 }
00053 
00055 void
00056 pcl_ros::RadiusOutlierRemoval::config_callback (pcl_ros::RadiusOutlierRemovalConfig &config, uint32_t level)
00057 {
00058   boost::mutex::scoped_lock lock (mutex_);
00059 
00060   if (impl_.getMinNeighborsInRadius () != config.min_neighbors)
00061   {
00062     impl_.setMinNeighborsInRadius (config.min_neighbors);
00063     NODELET_DEBUG ("[%s::config_callback] Setting the number of neighbors in radius: %d.", getName ().c_str (), config.min_neighbors);
00064   }
00065 
00066   if (impl_.getRadiusSearch () != config.radius_search)
00067   {
00068     impl_.setRadiusSearch (config.radius_search);
00069     NODELET_DEBUG ("[%s::config_callback] Setting the radius to search neighbors: %f.", getName ().c_str (), config.radius_search);
00070   }
00071   
00072 }
00073 
00074 
00075 typedef pcl_ros::RadiusOutlierRemoval RadiusOutlierRemoval;
00076 PLUGINLIB_EXPORT_CLASS(RadiusOutlierRemoval,nodelet::Nodelet);
00077 


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Aug 26 2015 15:25:31