00001 #ifndef H_CPPOINTCLOUDTOOLS 00002 #define H_CPPOINTCLOUDTOOLS 00003 00004 #include <vector> 00005 00006 #include <pcl_ros/point_cloud.h> 00007 #include <pcl/point_types.h> 00008 00009 #include "ClearpathStructures.h" 00010 00011 typedef pcl::PointXYZRGB PointType; 00012 typedef pcl::PointCloud<PointType> PointCloud; 00013 00014 class ClearpathPointCloudTools 00015 { 00016 public: 00017 00018 ClearpathPointCloudTools(); 00019 virtual ~ClearpathPointCloudTools(); 00020 00021 static void PassthroughPointCloud(PointCloud* cloud, PointCloud* result, double dist); 00022 static void PassthroughPointCloudImage(PointCloud* cloud, PointCloud* result, double dist); 00023 static void SkimPointCloudImage(PointCloud* cloud, PointCloud* result, unsigned int num_of_times); 00024 00025 private: 00026 00027 }; 00028 00029 #endif