00001 00059 /* 00060 * kinect_error.h 00061 * 00062 * Created on: Nov 11, 2011 00063 * Author: goa-jh 00064 */ 00065 00066 #ifndef KINECT_ERROR_H_ 00067 #define KINECT_ERROR_H_ 00068 00069 00070 //################## 00071 //#### includes #### 00072 00073 // PCL includes 00074 #include <pcl/pcl_base.h> 00075 #include <pcl/point_types.h> 00076 #include <pcl/filters/filter.h> 00077 00078 namespace preprocessing 00079 { 00080 00081 template <typename PointT> 00082 class KinectErrorGenerator : public pcl::Filter<PointT> 00083 { 00084 using pcl::Filter<PointT>::input_; 00085 00086 public: 00087 typedef typename pcl::Filter<PointT>::PointCloud PointCloud; 00088 typedef typename PointCloud::Ptr PointCloudPtr; 00089 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00090 00092 KinectErrorGenerator () 00093 : standard_deviation_ (0.25) 00094 { }; 00095 00096 inline void setStandardDeviation(float f) {standard_deviation_=f;} 00097 inline float getStandardDeviation() {return standard_deviation_;} 00098 00102 void 00103 applyFilter (PointCloud &output); 00104 00105 00106 protected: 00107 double standard_deviation_; 00108 00109 }; 00110 00111 } // end namespace cob_3d_mapping_filters 00112 00113 #include "impl/kinect_error.hpp" 00114 #endif /* KINECT_ERROR_H_ */