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 PointT &	operator[] (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_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 >

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

protectedpure virtual

Abstract filter method for point cloud indices.

Implemented in pcl::FarthestPointSampling< PointT >, pcl::UniformSampling< 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 >

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

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 >

void pcl::FilterIndices< PointT >::filter ( Indices & indices )

inline

Calls the filtering method and returns the filtered point cloud indices.

Parameters

[out] indices the resultant filtered point cloud indices

Definition at line 100 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(), pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::initCompute(), pcl::registration::KFPCSInitialAlignment< PointSource, PointTarget, NormalT, Scalar >::initCompute(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().

◆ 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_organized false = 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] negative false = 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] value the 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:

pcl/filters/filter_indices.h
pcl/filters/impl/filter_indices.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ Ptr

Constructor & Destructor Documentation

◆ FilterIndices()

Member Function Documentation

◆ applyFilter() [1/2]

◆ applyFilter() [2/2]

◆ filter()

◆ getKeepOrganized()

◆ getNegative()

◆ setKeepOrganized()

◆ setNegative()

◆ setUserFilterValue()

Member Data Documentation

◆ keep_organized_

◆ negative_

◆ user_filter_value_

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