00001 #ifndef FILTERS_H 00002 #define FILTERS_H 00003 00004 #include <pcl/filters/passthrough.h> 00005 #include <pcl/filters/voxel_grid.h> 00006 #include <pcl/filters/radius_outlier_removal.h> 00007 00008 #include "typedefs.h" 00009 00010 /* Use a PassThrough filter to remove points with depth values that are too large or too small */ 00011 PointCloudPtr 00012 thresholdDepth (const PointCloudPtr & input, float min_depth, float max_depth) 00013 { 00014 PointCloudPtr thresholded; 00015 return (thresholded); 00016 } 00017 00018 /* Use a VoxelGrid filter to reduce the number of points */ 00019 PointCloudPtr 00020 downsample (const PointCloudPtr & input, float leaf_size) 00021 { 00022 PointCloudPtr downsampled; 00023 return (downsampled); 00024 } 00025 00026 /* Use a RadiusOutlierRemoval filter to remove all points with too few local neighbors */ 00027 PointCloudPtr 00028 removeOutliers (const PointCloudPtr & input, float radius, int min_neighbors) 00029 { 00030 PointCloudPtr inliers; 00031 return (inliers); 00032 } 00033 00034 #endif