Point Cloud Library (PCL)  1.7.0
filters.h
1 #ifndef FILTERS_H
2 #define FILTERS_H
3 
4 #include <pcl/filters/passthrough.h>
5 #include <pcl/filters/voxel_grid.h>
6 #include <pcl/filters/radius_outlier_removal.h>
7 
8 #include "typedefs.h"
9 
10 /* Use a PassThrough filter to remove points with depth values that are too large or too small */
11 PointCloudPtr
12 thresholdDepth (const PointCloudPtr & input, float min_depth, float max_depth)
13 {
14  PointCloudPtr thresholded;
15  return (thresholded);
16 }
17 
18 /* Use a VoxelGrid filter to reduce the number of points */
19 PointCloudPtr
20 downsample (const PointCloudPtr & input, float leaf_size)
21 {
22  PointCloudPtr downsampled;
23  return (downsampled);
24 }
25 
26 /* Use a RadiusOutlierRemoval filter to remove all points with too few local neighbors */
27 PointCloudPtr
28 removeOutliers (const PointCloudPtr & input, float radius, int min_neighbors)
29 {
30  PointCloudPtr inliers;
31  return (inliers);
32 }
33 
34 #endif