statistical_outlier_removal.h

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 * $Id: statistical_outlier_removal.h 35876 2011-02-09 01:04:36Z rusu $
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#ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_

// PCL includes
#include <pcl/filters/statistical_outlier_removal.h>
#include "pcl_ros/filters/filter.h"

// Dynamic reconfigure
#include "pcl_ros/StatisticalOutlierRemovalConfig.h"

namespace pcl_ros
{
  class StatisticalOutlierRemoval : public Filter
  {
    protected:
      boost::shared_ptr <dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > srv_;

      inline void
      filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
              PointCloud2 &output)
      {
        boost::mutex::scoped_lock lock (mutex_);
        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
        pcl_conversions::toPCL(*(input), *(pcl_input));
        impl_.setInputCloud (pcl_input);
        impl_.setIndices (indices);
        pcl::PCLPointCloud2 pcl_output;
        impl_.filter (pcl_output);
        pcl_conversions::moveFromPCL(pcl_output, output);
      }

      bool child_init (ros::NodeHandle &nh, bool &has_service);

      void config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level);

    private:
      pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> impl_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_