Point Cloud Library (PCL) 1.13.0
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filters.h
1#pragma once
2
3#include <pcl/filters/passthrough.h>
4#include <pcl/filters/voxel_grid.h>
5#include <pcl/filters/radius_outlier_removal.h>
6
7#include "typedefs.h"
8
9/* Use a PassThrough filter to remove points with depth values that are too large or too small */
10PointCloudPtr
11thresholdDepth (const PointCloudPtr & input, float min_depth, float max_depth)
12{
13 PointCloudPtr thresholded;
14 return (thresholded);
15}
16
17/* Use a VoxelGrid filter to reduce the number of points */
18PointCloudPtr
19downsample (const PointCloudPtr & input, float leaf_size)
20{
21 PointCloudPtr downsampled;
22 return (downsampled);
23}
24
25/* Use a RadiusOutlierRemoval filter to remove all points with too few local neighbors */
26PointCloudPtr
27removeOutliers (const PointCloudPtr & input, float radius, int min_neighbors)
28{
29 PointCloudPtr inliers;
30 return (inliers);
31}