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Fixes #87 for Indigo

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This commit is contained in:
Lucid One
2015-05-26 16:01:16 -04:00
committed by Paul Bovbel
parent 04c29ac9cc
commit d245f70f4f
5 changed files with 70 additions and 1 deletions
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pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp
+34
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@@ -38,6 +38,40 @@
#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);