ConditionalRemoval filters data that satisfies certain conditions. More...
#include <pcl/filters/conditional_removal.h>
Public Types |
|
| using | ConditionBase = pcl::ConditionBase< PointT > |
| using | ConditionBasePtr = typename ConditionBase::Ptr |
| using | ConditionBaseConstPtr = typename ConditionBase::ConstPtr |
 Public Types inherited from pcl::Filter< PointT > |
|
| using | Ptr = shared_ptr< Filter< PointT > > |
| using | ConstPtr = shared_ptr< const Filter< PointT > > |
| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| Public Types inherited from pcl::PCLBase< PointT > |
|
| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions |
|
| ConditionalRemoval (int extract_removed_indices=false) | |
| the default constructor. More... |
|
| void | setKeepOrganized (bool val) |
| Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More... |
|
| bool | getKeepOrganized () const |
| void | setUserFilterValue (float val) |
| Provide a value that the filtered points should be set to instead of removing them. More... |
|
| void | setCondition (ConditionBasePtr condition) |
| Set the condition that the filter will use. More... |
|
| Public Member Functions inherited from pcl::Filter< PointT > |
|
| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
|
| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
|
| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
|
| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
|
| Public Member Functions inherited from pcl::PCLBase< PointT > |
|
| PCLBase () | |
| Empty constructor. More... |
|
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
|
| virtual | ~PCLBase ()=default |
| Destructor. More... |
|
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
|
| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
|
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
|
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
|
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
|
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
|
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
|
| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
|
| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
|
Protected Member Functions |
|
| void | applyFilter (PointCloud &output) override |
| Filter a Point Cloud. More... |
|
| Protected Member Functions inherited from pcl::Filter< PointT > |
|
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
|
| Protected Member Functions inherited from pcl::PCLBase< PointT > |
|
| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
|
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
|
Protected Attributes |
|
| bool | capable_ |
| True if capable. More... |
|
| bool | keep_organized_ |
| Keep the structure of the data organized, by setting the filtered points to the a user given value (NaN by default). More... |
|
| ConditionBasePtr | condition_ |
| The condition to use for filtering. More... |
|
| float | user_filter_value_ |
| User given value to be set to any filtered point. More... |
|
| Protected Attributes inherited from pcl::Filter< PointT > |
|
| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
|
| std::string | filter_name_ |
| The filter name. More... |
|
| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
|
| Protected Attributes inherited from pcl::PCLBase< PointT > |
|
| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
|
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
|
| bool | use_indices_ |
| Set to true if point indices are used. More... |
|
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
|
Detailed Description
template<typename PointT>
class pcl::ConditionalRemoval< PointT >
ConditionalRemoval filters data that satisfies certain conditions.
A ConditionalRemoval must be provided a condition. There are two types of conditions: ConditionAnd and ConditionOr. Conditions require one or more comparisons and/or other conditions. A comparison has a name, a comparison operator, and a value.
An ConditionAnd will evaluate to true when ALL of its encapsulated comparisons and conditions are true.
An ConditionOr will evaluate to true when ANY of its encapsulated comparisons and conditions are true.
Depending on the derived type of the comparison, the name can correspond to a PointCloud field name, or a color component in rgb color space or hsi color space.
Here is an example usage:
Definition at line 590 of file conditional_removal.h.
Member Typedef Documentation
ConditionBase
| using pcl::ConditionalRemoval< PointT >::ConditionBase = pcl::ConditionBase<PointT> |
Definition at line 604 of file conditional_removal.h.
ConditionBaseConstPtr
| using pcl::ConditionalRemoval< PointT >::ConditionBaseConstPtr = typename ConditionBase::ConstPtr |
Definition at line 606 of file conditional_removal.h.
ConditionBasePtr
| using pcl::ConditionalRemoval< PointT >::ConditionBasePtr = typename ConditionBase::Ptr |
Definition at line 605 of file conditional_removal.h.
Constructor & Destructor Documentation
ConditionalRemoval()
|
inline |
the default constructor.
All ConditionalRemovals require a condition which can be set using the setCondition method
- Parameters
-
extract_removed_indices extract filtered indices from indices vector
Definition at line 614 of file conditional_removal.h.
References pcl::Filter< PointT >::filter_name_.
Member Function Documentation
applyFilter()
|
overrideprotectedvirtual |
Filter a Point Cloud.
- Parameters
-
output the resultant point cloud message
Implements pcl::Filter< PointT >.
Definition at line 652 of file conditional_removal.hpp.
References pcl::copyPoint(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
getKeepOrganized()
|
inline |
Definition at line 636 of file conditional_removal.h.
References pcl::ConditionalRemoval< PointT >::keep_organized_.
setCondition()
| void pcl::ConditionalRemoval< PointT >::setCondition | ( | ConditionBasePtr | condition | ) |
Set the condition that the filter will use.
- Parameters
-
condition each point must satisfy this condition to avoid being removed by the filter
All ConditionalRemovals require a condition
Definition at line 644 of file conditional_removal.hpp.
Referenced by pcl::kinfuLS::WorldModel< pcl::PointXYZI >::getExistingData(), pcl::kinfuLS::WorldModel< pcl::PointXYZI >::getWorldAsCubes(), and pcl::kinfuLS::WorldModel< pcl::PointXYZI >::setSliceAsNans().
setKeepOrganized()
|
inline |
Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure.
By default, points are removed.
- Parameters
-
val set to true whether the filtered points should be kept and set to a given user value (default: NaN)
Definition at line 630 of file conditional_removal.h.
References pcl::ConditionalRemoval< PointT >::keep_organized_.
Referenced by pcl::kinfuLS::WorldModel< pcl::PointXYZI >::getExistingData(), pcl::kinfuLS::WorldModel< pcl::PointXYZI >::getWorldAsCubes(), and pcl::kinfuLS::WorldModel< pcl::PointXYZI >::setSliceAsNans().
setUserFilterValue()
|
inline |
Provide a value that the filtered points should be set to instead of removing them.
Used in conjunction with setKeepOrganized ().
- Parameters
-
val the user given value that the filtered point dimensions should be set to
Definition at line 647 of file conditional_removal.h.
References pcl::ConditionalRemoval< PointT >::user_filter_value_.
Member Data Documentation
capable_
|
protected |
True if capable.
Definition at line 669 of file conditional_removal.h.
condition_
|
protected |
The condition to use for filtering.
Definition at line 677 of file conditional_removal.h.
keep_organized_
|
protected |
Keep the structure of the data organized, by setting the filtered points to the a user given value (NaN by default).
Definition at line 674 of file conditional_removal.h.
Referenced by pcl::ConditionalRemoval< PointT >::getKeepOrganized(), and pcl::ConditionalRemoval< PointT >::setKeepOrganized().
user_filter_value_
|
protected |
User given value to be set to any filtered point.
Casted to the correct field type.
Definition at line 682 of file conditional_removal.h.
Referenced by pcl::ConditionalRemoval< PointT >::setUserFilterValue().
The documentation for this class was generated from the following files:
- pcl/filters/conditional_removal.h
- pcl/filters/impl/conditional_removal.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_conditional_removal.html
