PCLFiltering.hpp

Go to the documentation of this file.

 
#ifndef PCLFILTERING_H_
#define PCLFILTERING_H_
 
#ifdef LVR2_USE_PCL
 
#include "lvr2/io/Timestamp.hpp"
#include "lvr2/io/PointBuffer.hpp"
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/surface/mls.h>
#include <pcl/filters/statistical_outlier_removal.h>
 
namespace lvr2
{
 
class PCLFiltering
{
public:
    PCLFiltering( PointBufferPtr buffer );
    virtual ~PCLFiltering();
 
    void applyMLSProjection(float searchRadius);
    void applyOutlierRemoval(int meank, float thresh);
 
    PointBufferPtr getPointBuffer();
 
private:
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr       m_pointCloud;
    pcl::PointCloud<pcl::Normal>::Ptr            m_pointNormals;
    pcl::search::KdTree<pcl::PointXYZRGB>::Ptr   m_kdTree;
 
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr     m_FilteredCloud;
 
    bool m_useColors;
 
};
 
} /* namespace lvr2 */
 
#endif
 
#endif /* PCLFILTERING_H_ */