Filter points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes. More...

#include <pcl/filters/crop_hull.h>

Inheritance diagram for pcl::CropHull< PointT >:

Collaboration diagram for pcl::CropHull< PointT >:

Public Types
using	Ptr = shared_ptr< CropHull< PointT > >

using	ConstPtr = shared_ptr< const CropHull< PointT > >

Public Types inherited from pcl::FilterIndices< PointT >
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 >
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
	CropHull ()
	Empty Constructor. More...

void	setHullIndices (const std::vector< Vertices > &polygons)
	Set the vertices of the hull used to filter points. More...

std::vector< Vertices >	getHullIndices () const
	Get the vertices of the hull used to filter points. More...

void	setHullCloud (PointCloudPtr points)
	Set the point cloud that the hull indices refer to. More...

PointCloudPtr	getHullCloud () const
	Get the point cloud that the hull indices refer to. More...

void	setDim (int dim)
	Set the dimensionality of the hull to be used. More...

void	setCropOutside (bool crop_outside)
	Remove points outside the hull (default), or those inside the hull. More...

Public Member Functions inherited from pcl::FilterIndices< PointT >
	FilterIndices (bool extract_removed_indices=false)
	Constructor. More...

void	filter (Indices &indices)
	Calls the filtering method and returns the filtered point cloud indices. More...

void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...

bool	getNegative () const
	Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...

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...

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...

void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them. 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 (Indices &indices) override
	Filter the input points using the 2D or 3D polygon hull. More...

Protected Member Functions inherited from pcl::FilterIndices< PointT >
void	applyFilter (PointCloud &output) override
	Abstract filter method for 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...

Additional Inherited Members
Protected Attributes inherited from pcl::FilterIndices< PointT >
bool	negative_ {false}
	False = normal filter behavior (default), true = inverted behavior. More...

bool	keep_organized_ {false}
	False = remove points (default), true = redefine points, keep structure. More...

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN). 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::CropHull< PointT >

Filter points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes.

Author: James Crosby

Definition at line 51 of file crop_hull.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

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

Definition at line 65 of file crop_hull.h.

◆ Ptr

template<typename PointT >

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

Definition at line 64 of file crop_hull.h.

Constructor & Destructor Documentation

◆ CropHull()

template<typename PointT >

pcl::CropHull< PointT >::CropHull ( )

inline

Empty Constructor.

Definition at line 68 of file crop_hull.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::CropHull< PointT >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Filter the input points using the 2D or 3D polygon hull.

Parameters

[out] indices the indices of the set of points that passed the filter.

Implements pcl::FilterIndices< PointT >.

Definition at line 46 of file crop_hull.hpp.

◆ getHullCloud()

template<typename PointT >

PointCloudPtr pcl::CropHull< PointT >::getHullCloud ( ) const

inline

Get the point cloud that the hull indices refer to.

Definition at line 103 of file crop_hull.h.

◆ getHullIndices()

template<typename PointT >

std::vector<Vertices> pcl::CropHull< PointT >::getHullIndices ( ) const

inline

Get the vertices of the hull used to filter points.

Definition at line 87 of file crop_hull.h.

◆ setCropOutside()

template<typename PointT >

void pcl::CropHull< PointT >::setCropOutside ( bool crop_outside )

inline

Remove points outside the hull (default), or those inside the hull.

Parameters

[in] crop_outside If true, the filter will remove points outside the hull. If false, those inside will be removed.

Definition at line 125 of file crop_hull.h.

◆ setDim()

template<typename PointT >

void pcl::CropHull< PointT >::setDim ( int dim )

inline

Set the dimensionality of the hull to be used.

This should be set to correspond to the dimensionality of the convex/concave hull produced by the pcl::ConvexHull and pcl::ConcaveHull classes.

Parameters

[in] dim Dimensionality of the hull used to filter points.

Definition at line 115 of file crop_hull.h.

◆ setHullCloud()

template<typename PointT >

void pcl::CropHull< PointT >::setHullCloud ( PointCloudPtr points )

inline

Set the point cloud that the hull indices refer to.

Parameters

[in] points the point cloud that the hull indices refer to

Definition at line 96 of file crop_hull.h.

◆ setHullIndices()

template<typename PointT >

void pcl::CropHull< PointT >::setHullIndices ( const std::vector< Vertices > & polygons )

inline

Set the vertices of the hull used to filter points.

Parameters

[in] polygons Vector of polygons (Vertices structures) forming the hull used for filtering points.

Definition at line 79 of file crop_hull.h.

The documentation for this class was generated from the following files:

pcl/filters/crop_hull.h
pcl/filters/impl/crop_hull.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CropHull()

Member Function Documentation

◆ applyFilter()

◆ getHullCloud()

◆ getHullIndices()

◆ setCropOutside()

◆ setDim()

◆ setHullCloud()

◆ setHullIndices()

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