speckle_filter.h

Go to the documentation of this file.

#ifndef SPECKLE_FILTER_H_
#define SPECKLE_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 SpeckleFilter : 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;

      SpeckleFilter () :
          speckle_size_ (40), speckle_range_ (0.2)
      {
        points_to_remove_ = pcl::PointIndices::Ptr (new pcl::PointIndices ());
      }
      ;

      //virtual ~SpeckleFilter();

      inline void
      setFilterParam (int speckle_s, double speckle_r)
      {
        speckle_size_ = speckle_s;
        speckle_range_ = speckle_r;
      }

      inline int
      getSpeckleSize ()
      {
        return speckle_size_;
      }

      inline double
      getSpeckleRange ()
      {
        return speckle_range_;
      }

      pcl::PointIndices::Ptr
      getRemovedIndices ()
      {
        return points_to_remove_;
      }

    protected:

      void
      applyFilter (PointCloud &output);

      int speckle_size_; 
      double speckle_range_; 
      pcl::PointIndices::Ptr points_to_remove_; 
    };

} // end namespace cob_3d_mapping_filters

#endif /* SPECKLE_FILTER_H_ */