inline void  filter (PointCloud &output)

       {

         if (!initCompute ())

           return;

         if (input_.get () == &output)  // cloud_in = cloud_out

         {

           PointCloud output_temp;

           applyFilter (output_temp);

           output_temp.header = input_->header;

           output_temp.sensor_origin_ = input_->sensor_origin_;

           output_temp.sensor_orientation_ = input_->sensor_orientation_;

           pcl::copyPointCloud (output_temp, output);

         }

         else

         {

           output.header = input_->header;

           output.sensor_origin_ = input_->sensor_origin_;

           output.sensor_orientation_ = input_->sensor_orientation_;

           applyFilter (output);

         }

         deinitCompute ();

       }