jump_edge_filter.h

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#ifndef JUMP_EDGE_FILTER_H_
#define JUMP_EDGE_FILTER_H_

//##################
//#### includes ####

// PCL includes
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl/filters/filter.h>

namespace cob_3d_mapping_filters
{
  template<typename PointT>
    class JumpEdgeFilter : public pcl::Filter<PointT>
    {
      using pcl::Filter<PointT>::input_;

    public:
      typedef typename pcl::Filter<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      JumpEdgeFilter () :
          angle_deg_ (170.0)
      {
      }
      ;

      //virtual ~JumpEdgeFilter();

      inline void
      setAngleThreshold (double angle)
      {
        angle_deg_ = angle;
      }

      inline double
      getAngleThreshold ()
      {
        return angle_deg_;
      }

    protected:

      void
      applyFilter (PointCloud &output);

      double angle_deg_;
    };

} // end namespace cob_3d_mapping_filters

#endif /* JUMP_EDGE_FILTER_H_ */