LocalMaximum downsamples the cloud, by eliminating points that are locally maximal. More...

#include <pcl/filters/local_maximum.h>

Inheritance diagram for pcl::LocalMaximum< PointT >:

Collaboration diagram for pcl::LocalMaximum< PointT >:

Public Member Functions
	LocalMaximum (bool extract_removed_indices=false)
	Empty constructor. More...

void	setRadius (float radius)
	Set the radius to use to determine if a point is the local max. More...

float	getRadius () const
	Get the radius to use to determine if a point is the local max. More...

void	setSearchMethod (const SearcherPtr &searcher)
	Provide a pointer to the search object. 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 Types
using	PointCloud = typename FilterIndices< PointT >::PointCloud

using	SearcherPtr = typename pcl::search::Search< PointT >::Ptr

Protected Member Functions
void	applyFilter (PointCloud &output) override
	Downsample a Point Cloud by eliminating points that are locally maximal in z. More...

void	applyFilter (Indices &indices) override
	Filtered results are indexed by an indices array. More...

void	applyFilterIndices (Indices &indices)
	Filtered results are indexed by an indices array. 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
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

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::LocalMaximum< PointT >

LocalMaximum downsamples the cloud, by eliminating points that are locally maximal.

The LocalMaximum class analyzes each point and removes those that are found to be locally maximal with respect to their neighbors (found via radius search). The comparison is made in the z dimension only at this time.

Author: Bradley J Chambers

Definition at line 60 of file local_maximum.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

using pcl::LocalMaximum< PointT >::PointCloud = typename FilterIndices<PointT>::PointCloud

protected

Definition at line 63 of file local_maximum.h.

◆ SearcherPtr

template<typename PointT >

using pcl::LocalMaximum< PointT >::SearcherPtr = typename pcl::search::Search<PointT>::Ptr

protected

Definition at line 64 of file local_maximum.h.

Constructor & Destructor Documentation

◆ LocalMaximum()

template<typename PointT >

pcl::LocalMaximum< PointT >::LocalMaximum ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 68 of file local_maximum.h.

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

Member Function Documentation

◆ applyFilter() [1/2]

template<typename PointT >

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

inlineoverrideprotectedvirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 112 of file local_maximum.h.

References pcl::LocalMaximum< PointT >::applyFilterIndices().

◆ applyFilter() [2/2]

template<typename PointT >

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

overrideprotectedvirtual

Downsample a Point Cloud by eliminating points that are locally maximal in z.

Parameters

[out] output the resultant point cloud message

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 54 of file local_maximum.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::width.

◆ applyFilterIndices()

template<typename PointT >

void pcl::LocalMaximum< PointT >::applyFilterIndices ( Indices & indices )

protected

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 74 of file local_maximum.hpp.

References pcl::Filter< PointT >::filter(), pcl::isFinite(), pcl::SACMODEL_PLANE, pcl::PCLBase< PointT >::setInputCloud(), pcl::ProjectInliers< PointT >::setModelCoefficients(), and pcl::ProjectInliers< PointT >::setModelType().

Referenced by pcl::LocalMaximum< PointT >::applyFilter().

◆ getRadius()

template<typename PointT >

float pcl::LocalMaximum< PointT >::getRadius ( ) const

inline

Get the radius to use to determine if a point is the local max.

Returns: The radius to use to determine if a point is the local max.

Definition at line 85 of file local_maximum.h.

◆ setRadius()

template<typename PointT >

void pcl::LocalMaximum< PointT >::setRadius ( float radius )

inline

Set the radius to use to determine if a point is the local max.

Parameters

[in] radius The radius to use to determine if a point is the local max.

Definition at line 79 of file local_maximum.h.

◆ setSearchMethod()

template<typename PointT >

void pcl::LocalMaximum< PointT >::setSearchMethod ( const SearcherPtr & searcher )

inline

Provide a pointer to the search object.

Calling this is optional. If not called, the search method will be chosen automatically.

Parameters

[in] searcher a pointer to the spatial search object.

Definition at line 92 of file local_maximum.h.

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

pcl/filters/local_maximum.h
pcl/filters/impl/local_maximum.hpp

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ PointCloud

◆ SearcherPtr

Constructor & Destructor Documentation

◆ LocalMaximum()

Member Function Documentation

◆ applyFilter() [1/2]

◆ applyFilter() [2/2]

◆ applyFilterIndices()

◆ getRadius()

◆ setRadius()

◆ setSearchMethod()

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