ExtractIndices extracts a set of indices from a point cloud. More...
#include <pcl/filters/extract_indices.h>
Public Types |
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| using | Ptr = shared_ptr< ExtractIndices< PointT > > |
| using | ConstPtr = shared_ptr< const ExtractIndices< PointT > > |
 Public Types inherited from pcl::FilterIndices< PointT > |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | Ptr = shared_ptr< FilterIndices< PointT > > |
| using | ConstPtr = shared_ptr< const FilterIndices< PointT > > |
| Public Types inherited from pcl::Filter< PointT > |
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| 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 > |
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| 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 |
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| ExtractIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filterDirectly (PointCloudPtr &cloud) |
| Apply the filter and store the results directly in the input cloud. More... |
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| Public Member Functions inherited from pcl::FilterIndices< PointT > |
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| FilterIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices. More... |
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| void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| void | setKeepOrganized (bool keep_organized) |
| 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... |
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| bool | getKeepOrganized () const |
| Get 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... |
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| void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them. More... |
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| Public Member Functions inherited from pcl::Filter< PointT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Types |
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| using | PointCloud = typename FilterIndices< PointT >::PointCloud |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | FieldList = typename pcl::traits::fieldList< PointT >::type |
Protected Member Functions |
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| void | applyFilter (PointCloud &output) override |
| Filtered results are stored in a separate point cloud. More... |
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| void | applyFilter (Indices &indices) override |
| Filtered results are indexed by an indices array. More... |
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| void | applyFilterIndices (Indices &indices) |
| Filtered results are indexed by an indices array. More... |
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| Protected Member Functions inherited from pcl::FilterIndices< PointT > |
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| void | applyFilter (PointCloud &output) override |
| Abstract filter method for point cloud. More... |
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| Protected Member Functions inherited from pcl::Filter< PointT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::FilterIndices< PointT > |
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| bool | negative_ |
| False = normal filter behavior (default), true = inverted behavior. More... |
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| bool | keep_organized_ |
| False = remove points (default), true = redefine points, keep structure. More... |
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| float | user_filter_value_ |
| The user given value that the filtered point dimensions should be set to (default = NaN). More... |
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| Protected Attributes inherited from pcl::Filter< PointT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointT>
class pcl::ExtractIndices< PointT >
ExtractIndices extracts a set of indices from a point cloud.
Usage example:
pcl::ExtractIndices<PointType> eifilter (
true);
// Initializing with true will allow us to extract the removed indices
eifilter.setInputCloud (cloud_in);
eifilter.setIndices (indices_in);
eifilter.filter (*cloud_out);
// The resulting cloud_out contains all points of cloud_in that are indexed by indices_in
indices_rem = eifilter.getRemovedIndices ();
// The indices_rem array indexes all points of cloud_in that are not indexed by indices_in
eifilter.setNegative (
true);
eifilter.filter (*indices_out);
// Alternatively: the indices_out array is identical to indices_rem
eifilter.setNegative (
false);
eifilter.setUserFilterValue (1337.0);
eifilter.filterDirectly (cloud_in);
// This will directly modify cloud_in instead of creating a copy of the cloud
// It will overwrite all fields of the filtered points by the user value: 1337
Definition at line 69 of file extract_indices.h.
Member Typedef Documentation
ConstPtr
template<typename PointT >
| using pcl::ExtractIndices< PointT >::ConstPtr = shared_ptr<const ExtractIndices<PointT> > |
Definition at line 80 of file extract_indices.h.
FieldList
template<typename PointT >
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protected |
Definition at line 75 of file extract_indices.h.
PointCloud
template<typename PointT >
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protected |
Definition at line 72 of file extract_indices.h.
PointCloudConstPtr
template<typename PointT >
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protected |
Definition at line 74 of file extract_indices.h.
PointCloudPtr
template<typename PointT >
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protected |
Definition at line 73 of file extract_indices.h.
Ptr
template<typename PointT >
| using pcl::ExtractIndices< PointT >::Ptr = shared_ptr<ExtractIndices<PointT> > |
Definition at line 79 of file extract_indices.h.
Constructor & Destructor Documentation
ExtractIndices()
template<typename PointT >
|
inline |
Constructor.
- Parameters
-
[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
Definition at line 85 of file extract_indices.h.
References pcl::Filter< PointT >::filter_name_, and pcl::PCLBase< PointT >::use_indices_.
Member Function Documentation
applyFilter() [1/2]
template<typename PointT >
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inlineoverrideprotectedvirtual |
Filtered results are indexed by an indices array.
- Parameters
-
[out] indices The resultant indices.
Implements pcl::FilterIndices< PointT >.
Definition at line 125 of file extract_indices.h.
References pcl::ExtractIndices< PointT >::applyFilterIndices().
applyFilter() [2/2]
template<typename PointT >
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overrideprotectedvirtual |
Filtered results are stored in a separate point cloud.
- Parameters
-
[out] output The resultant point cloud.
Implements pcl::Filter< PointT >.
Definition at line 79 of file extract_indices.hpp.
References pcl::copyPointCloud(), and pcl::PointCloud< PointT >::is_dense.
applyFilterIndices()
template<typename PointT >
|
protected |
Filtered results are indexed by an indices array.
- Parameters
-
[out] indices The resultant indices.
Definition at line 118 of file extract_indices.hpp.
Referenced by pcl::ExtractIndices< PointT >::applyFilter().
filterDirectly()
template<typename PointT >
| void pcl::ExtractIndices< PointT >::filterDirectly | ( | PointCloudPtr & | cloud | ) |
Apply the filter and store the results directly in the input cloud.
This method will save the time and memory copy of an output cloud but can not alter the original size of the input cloud: It operates as though setKeepOrganized() is true and will overwrite the filtered points instead of remove them. All fields of filtered points are replaced with the value set by setUserFilterValue() (default = NaN). This method also automatically alters the input cloud set via setInputCloud(). It does not alter the value of the internal keep organized boolean as set by setKeepOrganized().
- Parameters
-
cloud The point cloud used for input and output.
Definition at line 48 of file extract_indices.hpp.
The documentation for this class was generated from the following files:
- pcl/filters/extract_indices.h
- pcl/filters/impl/extract_indices.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_extract_indices.html
