statistical_outlier_removal.cpp
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34  * $Id: statistical_outlier_removal.cpp 35876 2011-02-09 01:04:36Z rusu $
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37 
40 
42 bool
44 {
45  // Enable the dynamic reconfigure service
46  has_service = true;
47  srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > (nh);
48  dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, _1, _2);
49  srv_->setCallback (f);
50 
51  return (true);
52 }
53 
55 void
56 pcl_ros::StatisticalOutlierRemoval::config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level)
57 {
58  boost::mutex::scoped_lock lock (mutex_);
59 
60  if (impl_.getMeanK () != config.mean_k)
61  {
62  impl_.setMeanK (config.mean_k);
63  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);
64  }
65 
66  if (impl_.getStddevMulThresh () != config.stddev)
67  {
68  impl_.setStddevMulThresh (config.stddev);
69  NODELET_DEBUG ("[%s::config_callback] Setting the standard deviation multiplier threshold to: %f.", getName ().c_str (), config.stddev);
70  }
71 
72  if (impl_.getNegative () != config.negative)
73  {
74  impl_.setNegative (config.negative);
75  NODELET_DEBUG ("[%s::config_callback] Returning only inliers: %s.", getName ().c_str (), config.negative ? "false" : "true");
76  }
77 }
78 
81 
pcl_ros::StatisticalOutlierRemoval StatisticalOutlierRemoval
pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 > impl_
The PCL filter implementation used.
f
void config_callback(pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level)
Dynamic reconfigure callback.
const std::string & getName() const
bool child_init(ros::NodeHandle &nh, bool &has_service)
Child initialization routine.
boost::mutex mutex_
Internal mutex.
Definition: filter.h:95
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more information check:
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::StatisticalOutlierRemovalConfig > > srv_
Pointer to a dynamic reconfigure service.
PLUGINLIB_EXPORT_CLASS(StatisticalOutlierRemoval, nodelet::Nodelet)
#define NODELET_DEBUG(...)


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Mon Jun 10 2019 14:19:18