Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::FilterIndices< PointT > Class Template Referenceabstract

FilterIndices represents the base class for filters that are about binary point removal. More...

#include <pcl/filters/filter_indices.h>

+ Inheritance diagram for pcl::FilterIndices< PointT >:
+ Collaboration diagram for pcl::FilterIndices< PointT >:

Public Types

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

 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 PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual void applyFilter (Indices &indices)=0
 Abstract filter method for point cloud indices. More...
 
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...
 

Protected Attributes

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::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).

Author
Justin Rosen

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 >
pcl::FilterIndices< PointT >::FilterIndices ( bool  extract_removed_indices = false)
inline

Constructor.

Parameters
[in]extract_removed_indicesSet 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 >
virtual void pcl::FilterIndices< PointT >::applyFilter ( Indices indices)
protectedpure virtual

◆ applyFilter() [2/2]

template<typename PointT >
void pcl::FilterIndices< PointT >::applyFilter ( PointCloud output)
overrideprotectedvirtual

◆ filter()

template<typename PointT >
void pcl::FilterIndices< PointT >::filter ( Indices indices)
inline

◆ getKeepOrganized()

template<typename PointT >
bool pcl::FilterIndices< PointT >::getKeepOrganized ( ) const
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 144 of file filter_indices.h.

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

◆ getNegative()

template<typename PointT >
bool pcl::FilterIndices< PointT >::getNegative ( ) const
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 124 of file filter_indices.h.

References pcl::FilterIndices< PointT >::negative_.

◆ setKeepOrganized()

template<typename PointT >
void pcl::FilterIndices< PointT >::setKeepOrganized ( bool  keep_organized)
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_organizedfalse = remove points (default), true = redefine points, keep structure.

Definition at line 134 of file filter_indices.h.

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

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ParticleFilterTracker().

◆ setNegative()

template<typename PointT >
void pcl::FilterIndices< PointT >::setNegative ( bool  negative)
inline

Set whether the regular conditions for points filtering should apply, or the inverted conditions.

Parameters
[in]negativefalse = normal filter behavior (default), true = inverted behavior.

Definition at line 115 of file filter_indices.h.

References pcl::FilterIndices< PointT >::negative_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

◆ setUserFilterValue()

template<typename PointT >
void pcl::FilterIndices< PointT >::setUserFilterValue ( float  value)
inline

Provide a value that the filtered points should be set to instead of removing them.

Used in conjunction with setKeepOrganized ().

Parameters
[in]valuethe user given value that the filtered point dimensions should be set to (default = NaN).

Definition at line 154 of file filter_indices.h.

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

Member Data Documentation

◆ keep_organized_

template<typename PointT >
bool pcl::FilterIndices< PointT >::keep_organized_ {false}
protected

False = remove points (default), true = redefine points, keep structure.

Definition at line 170 of file filter_indices.h.

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

◆ negative_

template<typename PointT >
bool pcl::FilterIndices< PointT >::negative_ {false}
protected

False = normal filter behavior (default), true = inverted behavior.

Definition at line 167 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 >
float pcl::FilterIndices< PointT >::user_filter_value_
protected

The user given value that the filtered point dimensions should be set to (default = NaN).

Definition at line 173 of file filter_indices.h.

Referenced by pcl::FilterIndices< PointT >::setUserFilterValue().


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