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_ */