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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
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_EXPORT_CLASS(StatisticalOutlierRemoval,nodelet::Nodelet);
00081