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 * $Id: statistical_outlier_removal.cpp 35876 2011-02-09 01:04:36Z rusu $
 *
 */

#include <pluginlib/class_list_macros.h>
#include "pcl_ros/filters/statistical_outlier_removal.h"

//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl_ros::StatisticalOutlierRemoval::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::StatisticalOutlierRemovalConfig> > (nh);
  dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig>::CallbackType f = boost::bind (&StatisticalOutlierRemoval::config_callback, this, _1, _2);
  srv_->setCallback (f);

  return (true);
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl_ros::StatisticalOutlierRemoval::config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t /*level*/)
{
  boost::mutex::scoped_lock lock (mutex_);

  if (impl_.getMeanK () != config.mean_k)
  {
    impl_.setMeanK (config.mean_k);
    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);
  }
  
  if (impl_.getStddevMulThresh () != config.stddev)
  {
    impl_.setStddevMulThresh (config.stddev);
    NODELET_DEBUG ("[%s::config_callback] Setting the standard deviation multiplier threshold to: %f.", getName ().c_str (), config.stddev);
  }

  if (impl_.getNegative () != config.negative)
  {
    impl_.setNegative (config.negative);
    NODELET_DEBUG ("[%s::config_callback] Returning only inliers: %s.", getName ().c_str (), config.negative ? "false" : "true");
  }
}

typedef pcl_ros::StatisticalOutlierRemoval StatisticalOutlierRemoval;
PLUGINLIB_EXPORT_CLASS(StatisticalOutlierRemoval,nodelet::Nodelet)

