Filter.h

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#pragma once
#ifndef _FILTER_H
#define _FILTER_H

#include <Utils.h>

class Filter
{
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
    typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloudRGB;
    typedef pcl::PointCloud<pcl::Normal> PointCloudNormal;
    
public:
    Filter(){};

    Filter(double leaf_size);

    Filter(double leaf_size, double noise_threshold, double floor_threshold);

    ~Filter(){};

    void setLeafSize(double new_leaf_size);

    void setNoiseThreshold(double noise_th);

    void setFloorThreshold(double floor_th);
    
    void setCloudCenter(Eigen::Vector3f cloud_center);

    void run(PointCloudRGB::Ptr cloud, PointCloudRGB::Ptr cloud_filtered);

    void downsampleCloud(PointCloudRGB::Ptr cloud, PointCloudRGB::Ptr cloud_downsampled);

    void filterNoise(PointCloudRGB::Ptr cloud, PointCloudRGB::Ptr cloud_filtered);

    void filterFloor(PointCloudRGB::Ptr cloud, PointCloudRGB::Ptr cloud_filtered);

    void outlierRemove(PointCloudRGB::Ptr cloud, PointCloudRGB::Ptr cloud_filtered);

    static void removeFromCloud(PointCloudRGB::Ptr input_cloud, 
                                PointCloudRGB::Ptr substract_cloud,
                                double threshold, 
                                PointCloudRGB::Ptr cloud_filtered);

    static void extractIndicesNegative(PointCloudRGB::Ptr cloud_in, 
                                      PointCloudRGB::Ptr cloud_out,
                                      pcl::IndicesPtr indices);

    static void extractIndices(PointCloudRGB::Ptr cloud_in,
                              PointCloudRGB::Ptr cloud_out,
                              pcl::IndicesPtr indices);
    
    static void extractIndices(PointCloudNormal::Ptr normals_in, 
                              PointCloudNormal::Ptr normals_out,
                              pcl::IndicesPtr indices);           

private:
    double leaf_size_;

    double noise_threshold_;

    Eigen::Vector4f cloud_center_;

    bool given_center_;

    double floor_threshold_;
};

#endif