Add the StatisticalOutlierRemoval filter. (#400)

pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.hpp

@@ -40,11 +40,9 @@
 
 // PCL includes
 #include <pcl/filters/statistical_outlier_removal.h>
+#include <vector>
 #include "pcl_ros/filters/filter.hpp"
 
-// Dynamic reconfigure
-#include "pcl_ros/StatisticalOutlierRemovalConfig.hpp"
-
 namespace pcl_ros
 {
 /** \brief @b StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more
@@ -61,9 +59,6 @@ namespace pcl_ros
 class StatisticalOutlierRemoval : public Filter
 {
 protected:
-  /** \brief Pointer to a dynamic reconfigure service. */
-  boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>> srv_;
-
   /** \brief Call the actual filter.
     * \param input the input point cloud dataset
     * \param indices the input set of indices to use from \a input
@@ -71,10 +66,10 @@ protected:
     */
   inline void
   filter(
-    const PointCloud2::ConstPtr & input, const IndicesPtr & indices,
-    PointCloud2 & output)
+    const PointCloud2::ConstSharedPtr & input, const IndicesPtr & indices,
+    PointCloud2 & output) override
   {
-    boost::mutex::scoped_lock lock(mutex_);
+    std::lock_guard<std::mutex> lock(mutex_);
     pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
     pcl_conversions::toPCL(*(input), *(pcl_input));
     impl_.setInputCloud(pcl_input);
@@ -84,17 +79,13 @@ protected:
     pcl_conversions::moveFromPCL(pcl_output, output);
   }
 
-  /** \brief Child initialization routine.
-    * \param nh ROS node handle
-    * \param has_service set to true if the child has a Dynamic Reconfigure service
+  /** \brief Parameter callback
+    * \param params parameter values to set
     */
-  bool child_init(ros::NodeHandle & nh, bool & has_service);
+  rcl_interfaces::msg::SetParametersResult
+  config_callback(const std::vector<rclcpp::Parameter> & params);
 
-  /** \brief Dynamic reconfigure callback
-    * \param config the config object
-    * \param level the dynamic reconfigure level
-    */
-  void config_callback(pcl_ros::StatisticalOutlierRemovalConfig & config, uint32_t level);
+  OnSetParametersCallbackHandle::SharedPtr callback_handle_;
 
 private:
   /** \brief The PCL filter implementation used. */
@@ -102,6 +93,8 @@ private:
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  explicit StatisticalOutlierRemoval(const rclcpp::NodeOptions & options);
 };
 }  // namespace pcl_ros