statistical_outlier_removal.h
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00001 /*
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00034  * $Id: statistical_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $
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00037 
00038 #ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
00039 #define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
00040 
00041 // PCL includes
00042 #include <pcl/filters/statistical_outlier_removal.h>
00043 #include "pcl_ros/filters/filter.h"
00044 
00045 // Dynamic reconfigure
00046 #include "pcl_ros/StatisticalOutlierRemovalConfig.h"
00047 
00048 namespace pcl_ros
00049 {
00061   class StatisticalOutlierRemoval : public Filter
00062   {
00063     protected:
00065       boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > srv_;
00066 
00072       inline void
00073       filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
00074               PointCloud2 &output)
00075       {
00076         boost::mutex::scoped_lock lock (mutex_);
00077         pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
00078         pcl_conversions::toPCL(*(input), *(pcl_input));
00079         impl_.setInputCloud (pcl_input);
00080         impl_.setIndices (indices);
00081         pcl::PCLPointCloud2 pcl_output;
00082         impl_.filter (pcl_output);
00083         pcl_conversions::moveFromPCL(pcl_output, output);
00084       }
00085 
00090       bool child_init (ros::NodeHandle &nh, bool &has_service);
00091 
00096       void config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level);
00097 
00098     private:
00100       pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> impl_;
00101     public:
00102       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00103   };
00104 }
00105 
00106 #endif  //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_


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