ConditionalRemoval filters data that satisfies certain conditions. More...

#include <pcl/filters/conditional_removal.h>

Inheritance diagram for pcl::ConditionalRemoval< PointT >:

Collaboration diagram for pcl::ConditionalRemoval< PointT >:

Public Types
using	ConditionBase = pcl::ConditionBase< PointT >

using	ConditionBasePtr = typename ConditionBase::Ptr

using	ConditionBaseConstPtr = typename ConditionBase::ConstPtr

using	Ptr = shared_ptr< ConditionalRemoval< PointT > >

using	ConstPtr = shared_ptr< const ConditionalRemoval< PointT > >

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...

IndicesConstPtr const	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...

PointCloudConstPtr const	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...

IndicesConstPtr const	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_ {false}
	True if capable. More...

bool	keep_organized_ {false}
	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:

// Build the condition
pcl::ConditionAnd<PointT>::Ptr range_cond (new pcl::ConditionAnd<PointT> ());
range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::LT, 2.0)));
range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::GT, 0.0)));
// Build the filter
pcl::ConditionalRemoval<PointT> range_filt;
range_filt.setCondition (range_cond);
range_filt.setKeepOrganized (false);

Author: Louis LeGrand, Intel Labs Seattle

Definition at line 591 of file conditional_removal.h.

Member Typedef Documentation

◆ ConditionBase

template<typename PointT >

using pcl::ConditionalRemoval< PointT >::ConditionBase = pcl::ConditionBase<PointT>

Definition at line 605 of file conditional_removal.h.

◆ ConditionBaseConstPtr

template<typename PointT >

using pcl::ConditionalRemoval< PointT >::ConditionBaseConstPtr = typename ConditionBase::ConstPtr

Definition at line 607 of file conditional_removal.h.

◆ ConditionBasePtr

template<typename PointT >

using pcl::ConditionalRemoval< PointT >::ConditionBasePtr = typename ConditionBase::Ptr

Definition at line 606 of file conditional_removal.h.

◆ ConstPtr

template<typename PointT >

using pcl::ConditionalRemoval< PointT >::ConstPtr = shared_ptr<const ConditionalRemoval<PointT> >

Definition at line 610 of file conditional_removal.h.

◆ Ptr

template<typename PointT >

using pcl::ConditionalRemoval< PointT >::Ptr = shared_ptr<ConditionalRemoval<PointT> >

Definition at line 609 of file conditional_removal.h.

Constructor & Destructor Documentation

◆ ConditionalRemoval()

template<typename PointT >

pcl::ConditionalRemoval< PointT >::ConditionalRemoval ( int extract_removed_indices = false )

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 619 of file conditional_removal.h.

References pcl::Filter< PointT >::filter_name_.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::ConditionalRemoval< PointT >::applyFilter ( PointCloud & output )

overrideprotectedvirtual

Filter a Point Cloud.

Parameters

output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 625 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()

template<typename PointT >

bool pcl::ConditionalRemoval< PointT >::getKeepOrganized ( ) const

inline

Definition at line 641 of file conditional_removal.h.

References pcl::ConditionalRemoval< PointT >::keep_organized_.

◆ setCondition()

template<typename PointT >

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 617 of file conditional_removal.hpp.

Referenced by pcl::kinfuLS::WorldModel< PointT >::getExistingData(), and pcl::kinfuLS::WorldModel< PointT >::setSliceAsNans().

◆ setKeepOrganized()

template<typename PointT >

void pcl::ConditionalRemoval< PointT >::setKeepOrganized ( bool val )

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 635 of file conditional_removal.h.

References pcl::ConditionalRemoval< PointT >::keep_organized_.

Referenced by pcl::kinfuLS::WorldModel< PointT >::getExistingData(), and pcl::kinfuLS::WorldModel< PointT >::setSliceAsNans().

◆ setUserFilterValue()

template<typename PointT >

void pcl::ConditionalRemoval< PointT >::setUserFilterValue ( float val )

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 652 of file conditional_removal.h.

References pcl::ConditionalRemoval< PointT >::user_filter_value_.

Member Data Documentation

◆ capable_

template<typename PointT >

bool pcl::ConditionalRemoval< PointT >::capable_ {false}

protected

True if capable.

Definition at line 674 of file conditional_removal.h.

◆ condition_

template<typename PointT >

ConditionBasePtr pcl::ConditionalRemoval< PointT >::condition_

protected

The condition to use for filtering.

Definition at line 682 of file conditional_removal.h.

◆ keep_organized_

template<typename PointT >

bool pcl::ConditionalRemoval< PointT >::keep_organized_ {false}

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 679 of file conditional_removal.h.

Referenced by pcl::ConditionalRemoval< PointT >::getKeepOrganized(), and pcl::ConditionalRemoval< PointT >::setKeepOrganized().

◆ user_filter_value_

template<typename PointT >

float pcl::ConditionalRemoval< PointT >::user_filter_value_

protected

User given value to be set to any filtered point.

Casted to the correct field type.

Definition at line 687 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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::ConditionalRemoval< PointT >

Member Typedef Documentation

◆ ConditionBase

◆ ConditionBaseConstPtr

◆ ConditionBasePtr

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ConditionalRemoval()

Member Function Documentation

◆ applyFilter()

◆ getKeepOrganized()

◆ setCondition()

◆ setKeepOrganized()

◆ setUserFilterValue()

Member Data Documentation

◆ capable_

◆ condition_

◆ keep_organized_

◆ user_filter_value_

template<typename PointT>
class pcl::ConditionalRemoval< PointT >