FilterIndices represents the base class for filters that are about binary point removal. More...
#include <pcl/filters/filter_indices.h>
Public Types |
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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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| 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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| IndicesConstPtr const | 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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| PointCloudConstPtr const | 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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| IndicesConstPtr const | 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 Member Functions |
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| virtual void | applyFilter (Indices &indices)=0 |
| Abstract filter method for point cloud indices. More... |
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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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Protected Attributes |
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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::FilterIndices< PointT >
FilterIndices represents the base class for filters that are about binary point removal.
All derived classes have to implement the filter (PointCloud &output) and the filter (Indices &indices) methods. Ideally they also make use of the negative_, keep_organized_ and extract_removed_indices_ systems. The distinguishment between the negative_ and extract_removed_indices_ systems only makes sense if the class automatically filters non-finite entries in the filtering methods (recommended).
Definition at line 74 of file filter_indices.h.
Member Typedef Documentation
ConstPtr
template<typename PointT >
| using pcl::FilterIndices< PointT >::ConstPtr = shared_ptr<const FilterIndices<PointT> > |
Definition at line 81 of file filter_indices.h.
PointCloud
template<typename PointT >
| using pcl::FilterIndices< PointT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 78 of file filter_indices.h.
Ptr
template<typename PointT >
| using pcl::FilterIndices< PointT >::Ptr = shared_ptr<FilterIndices<PointT> > |
Definition at line 80 of file filter_indices.h.
Constructor & Destructor Documentation
FilterIndices()
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 87 of file filter_indices.h.
Member Function Documentation
applyFilter() [1/2]
template<typename PointT >
|
protectedpure virtual |
Abstract filter method for point cloud indices.
Implemented in pcl::FarthestPointSampling< PointT >, pcl::StatisticalOutlierRemoval< PointT >, pcl::ShadowPoints< PointT, NormalT >, pcl::RandomSample< PointT >, pcl::RadiusOutlierRemoval< PointT >, pcl::PassThrough< PointT >, pcl::PassThrough< PointInT >, pcl::NormalSpaceSampling< PointT, NormalT >, pcl::ModelOutlierRemoval< PointT >, pcl::LocalMaximum< PointT >, pcl::GridMinimum< PointT >, pcl::FrustumCulling< PointT >, pcl::ExtractIndices< PointT >, pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >, pcl::CropHull< PointT >, pcl::CropBox< PointT >, and pcl::CovarianceSampling< PointT, PointNT >.
Referenced by pcl::FilterIndices< PointT >::filter().
applyFilter() [2/2]
template<typename PointT >
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overrideprotectedvirtual |
Abstract filter method for point cloud.
Implements pcl::Filter< PointT >.
Reimplemented in pcl::ShadowPoints< PointT, NormalT >, pcl::LocalMaximum< PointT >, and pcl::GridMinimum< PointT >.
Definition at line 77 of file filter_indices.hpp.
References pcl::copyPoint(), pcl::copyPointCloud(), and pcl::PointCloud< PointT >::is_dense.
filter()
template<typename PointT >
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inline |
Calls the filtering method and returns the filtered point cloud indices.
- Parameters
-
[out] indices the resultant filtered point cloud indices
Definition at line 101 of file filter_indices.h.
References pcl::FilterIndices< PointT >::applyFilter(), pcl::PCLBase< PointT >::deinitCompute(), and pcl::PCLBase< PointT >::initCompute().
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().
getKeepOrganized()
template<typename PointT >
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inline |
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.
- Returns
- The value of the internal keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
Definition at line 145 of file filter_indices.h.
References pcl::FilterIndices< PointT >::keep_organized_.
getNegative()
template<typename PointT >
|
inline |
Get whether the regular conditions for points filtering should apply, or the inverted conditions.
- Returns
- The value of the internal negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
Definition at line 125 of file filter_indices.h.
References pcl::FilterIndices< PointT >::negative_.
setKeepOrganized()
template<typename PointT >
|
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.
- Parameters
-
[in] keep_organized false = remove points (default), true = redefine points, keep structure.
Definition at line 135 of file filter_indices.h.
References pcl::FilterIndices< PointT >::keep_organized_.
Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ParticleFilterTracker().
setNegative()
template<typename PointT >
|
inline |
Set whether the regular conditions for points filtering should apply, or the inverted conditions.
- Parameters
-
[in] negative false = normal filter behavior (default), true = inverted behavior.
Definition at line 116 of file filter_indices.h.
References pcl::FilterIndices< PointT >::negative_.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().
setUserFilterValue()
template<typename PointT >
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inline |
Provide a value that the filtered points should be set to instead of removing them.
Used in conjunction with setKeepOrganized ().
- Parameters
-
[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
Definition at line 155 of file filter_indices.h.
References pcl::FilterIndices< PointT >::user_filter_value_.
Member Data Documentation
keep_organized_
template<typename PointT >
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protected |
False = remove points (default), true = redefine points, keep structure.
Definition at line 171 of file filter_indices.h.
Referenced by pcl::FilterIndices< PointT >::getKeepOrganized(), and pcl::FilterIndices< PointT >::setKeepOrganized().
negative_
template<typename PointT >
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protected |
False = normal filter behavior (default), true = inverted behavior.
Definition at line 168 of file filter_indices.h.
Referenced by pcl::PassThrough< PointT >::getFilterLimitsNegative(), pcl::FilterIndices< PointT >::getNegative(), and pcl::FilterIndices< PointT >::setNegative().
user_filter_value_
template<typename PointT >
|
protected |
The user given value that the filtered point dimensions should be set to (default = NaN).
Definition at line 174 of file filter_indices.h.
Referenced by pcl::FilterIndices< PointT >::setUserFilterValue().
The documentation for this class was generated from the following files:
- pcl/filters/filter_indices.h
- pcl/filters/impl/filter_indices.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_filter_indices.html