Filters.hpp

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#ifndef _DEPTH_MAP_PREPROCESSING_FILTERS_HPP_
#define _DEPTH_MAP_PREPROCESSING_FILTERS_HPP_

#include <base/samples/DepthMap.hpp>

namespace depth_map_preprocessing
{

class Filters
{
public:

    static void filterMinDistance(base::samples::DepthMap &laser_scan, float min_range);

    static void filterOutliers(base::samples::DepthMap &laser_scan, double max_deviation_angle, unsigned min_neighbors = 1);

protected:

    static unsigned checkPoints(const Eigen::Vector3f& origin, const Eigen::Vector3f& neighbor, double max_angle);
};

} // end namespace depth_map_preprocessing

#endif // _DEPTH_MAP_PREPROCESSING_FILTERS_HPP_