radius_outlier_removal.cpp

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 * $Id: radius_outlier_removal.cpp 33319 2010-10-15 04:49:28Z rusu $
 *
 */

#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/radius_outlier_removal.h"

bool
pcl_ros::RadiusOutlierRemoval::child_init (ros::NodeHandle &nh, bool &has_service)
{
  // Enable the dynamic reconfigure service
  has_service = true;
  srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig> > (nh);
  dynamic_reconfigure::Server<pcl_ros::RadiusOutlierRemovalConfig>::CallbackType f = boost::bind (&RadiusOutlierRemoval::config_callback, this, _1, _2);
  srv_->setCallback (f);

  return (true);
}

void
pcl_ros::RadiusOutlierRemoval::config_callback (pcl_ros::RadiusOutlierRemovalConfig &config, uint32_t level)
{
  boost::mutex::scoped_lock lock (mutex_);

  if (impl_.getMinNeighborsInRadius () != config.min_neighbors)
  {
    impl_.setMinNeighborsInRadius (config.min_neighbors);
    NODELET_DEBUG ("[%s::config_callback] Setting the number of neighbors in radius: %d.", getName ().c_str (), config.min_neighbors);
  }

  if (impl_.getRadiusSearch () != config.radius_search)
  {
    impl_.setRadiusSearch (config.radius_search);
    NODELET_DEBUG ("[%s::config_callback] Setting the radius to search neighbors: %f.", getName ().c_str (), config.radius_search);
  }
  
}


typedef pcl_ros::RadiusOutlierRemoval RadiusOutlierRemoval;
PLUGINLIB_EXPORT_CLASS(RadiusOutlierRemoval,nodelet::Nodelet);