Point Cloud Library (PCL)
1.7.1
Main Page
Modules
Namespaces
Classes
doc
tutorials
content
sources
iros2011
include
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