crop_box.cpp
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38 
41 
43 bool
45 {
46  // Enable the dynamic reconfigure service
47  has_service = true;
48  srv_ = boost::make_shared <dynamic_reconfigure::Server<pcl_ros::CropBoxConfig> > (nh);
49  dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>::CallbackType f = boost::bind (&CropBox::config_callback, this, _1, _2);
50  srv_->setCallback (f);
51 
52  return (true);
53 }
54 
56 void
57 pcl_ros::CropBox::config_callback (pcl_ros::CropBoxConfig &config, uint32_t level)
58 {
59  boost::mutex::scoped_lock lock (mutex_);
60 
61  Eigen::Vector4f min_point,max_point;
62  min_point = impl_.getMin();
63  max_point = impl_.getMax();
64 
65  Eigen::Vector4f new_min_point, new_max_point;
66  new_min_point << config.min_x, config.min_y, config.min_z, 0.0;
67  new_max_point << config.max_x, config.max_y, config.max_z, 0.0;
68 
69  // Check the current values for minimum point
70  if (min_point != new_min_point)
71  {
72  NODELET_DEBUG ("[%s::config_callback] Setting the minimum point to: %f %f %f.", getName ().c_str (), new_min_point(0),new_min_point(1),new_min_point(2));
73  // Set the filter min point if different
74  impl_.setMin(new_min_point);
75  }
76  // Check the current values for the maximum point
77  if (max_point != new_max_point)
78  {
79  NODELET_DEBUG ("[%s::config_callback] Setting the maximum point to: %f %f %f.", getName ().c_str (), new_max_point(0),new_max_point(1),new_max_point(2));
80  // Set the filter max point if different
81  impl_.setMax(new_max_point);
82  }
83 
84  // Check the current value for keep_organized
85  if (impl_.getKeepOrganized () != config.keep_organized)
86  {
87  NODELET_DEBUG ("[%s::config_callback] Setting the filter keep_organized value to: %s.", getName ().c_str (), config.keep_organized ? "true" : "false");
88  // Call the virtual method in the child
89  impl_.setKeepOrganized (config.keep_organized);
90  }
91 
92  // Check the current value for the negative flag
93  if (impl_.getNegative() != config.negative)
94  {
95  NODELET_DEBUG ("[%s::config_callback] Setting the filter negative flag to: %s.", getName ().c_str (), config.negative ? "true" : "false");
96  // Call the virtual method in the child
97  impl_.setNegative(config.negative);
98  }
99 
100  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
101  if (tf_input_frame_ != config.input_frame)
102  {
103  tf_input_frame_ = config.input_frame;
104  NODELET_DEBUG ("[%s::config_callback] Setting the input TF frame to: %s.", getName ().c_str (), tf_input_frame_.c_str ());
105  }
106  if (tf_output_frame_ != config.output_frame)
107  {
108  tf_output_frame_ = config.output_frame;
109  NODELET_DEBUG ("[%s::config_callback] Setting the output TF frame to: %s.", getName ().c_str (), tf_output_frame_.c_str ());
110  }
111 }
112 
115 
pcl::CropBox< pcl::PCLPointCloud2 > impl_
The PCL filter implementation used.
Definition: crop_box.h:98
f
pcl_ros::CropBox CropBox
Definition: crop_box.cpp:113
std::string tf_input_frame_
The input TF frame the data should be transformed into, if input.header.frame_id is different...
Definition: filter.h:86
std::string tf_output_frame_
The output TF frame the data should be transformed into, if input.header.frame_id is different...
Definition: filter.h:92
const std::string & getName() const
CropBox is a filter that allows the user to filter all the data inside of a given box...
Definition: crop_box.h:57
boost::mutex mutex_
Internal mutex.
Definition: filter.h:95
void config_callback(pcl_ros::CropBoxConfig &config, uint32_t level)
Dynamic reconfigure service callback.
Definition: crop_box.cpp:57
bool child_init(ros::NodeHandle &nh, bool &has_service)
Child initialization routine.
Definition: crop_box.cpp:44
PLUGINLIB_EXPORT_CLASS(CropBox, nodelet::Nodelet)
#define NODELET_DEBUG(...)
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::CropBoxConfig > > srv_
Pointer to a dynamic reconfigure service.
Definition: crop_box.h:61


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Wed Jun 5 2019 19:52:52