PassThrough passes points in a cloud based on constraints for one particular field of the point type. More...

#include <pcl/filters/passthrough.h>

Inheritance diagram for pcl::PassThrough< PointT >:

Collaboration diagram for pcl::PassThrough< PointT >:

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

using	ConstPtr = shared_ptr< const PassThrough< 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
	PassThrough (bool extract_removed_indices=false)
	Constructor. More...

void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data. More...

std::string const	getFilterFieldName () const
	Retrieve the name of the field to be used for filtering data. More...

void	setFilterLimits (const float &limit_min, const float &limit_max)
	Set the numerical limits for the field for filtering data. More...

void	getFilterLimits (float &limit_min, float &limit_max) const
	Get the numerical limits for the field for filtering data. More...

bool	getFilterLimitsNegative () const
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). 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	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	FieldList = typename pcl::traits::fieldList< PointT >::type

Protected Member Functions
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::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::PassThrough< PointT >

PassThrough passes points in a cloud based on constraints for one particular field of the point type.

Iterates through the entire input once, automatically filtering non-finite points and the points outside the interval specified by setFilterLimits(), which applies only to the field specified by setFilterFieldName().

Usage example:

pcl::PassThrough<PointType> ptfilter (true); // Initializing with true will allow us to extract the removed indices
ptfilter.setInputCloud (cloud_in);
ptfilter.setFilterFieldName ("x");
ptfilter.setFilterLimits (0.0, 1000.0);
ptfilter.filter (*indices_x);
// The indices_x array indexes all points of cloud_in that have x between 0.0 and 1000.0
indices_rem = ptfilter.getRemovedIndices ();
// The indices_rem array indexes all points of cloud_in that have x smaller than 0.0 or larger than 1000.0
// and also indexes all non-finite points of cloud_in
ptfilter.setIndices (indices_x);
ptfilter.setFilterFieldName ("z");
ptfilter.setFilterLimits (-10.0, 10.0);
ptfilter.setNegative (true);
ptfilter.filter (*indices_xz);
// The indices_xz array indexes all points of cloud_in that have x between 0.0 and 1000.0 and z larger than 10.0 or smaller than -10.0
ptfilter.setIndices (indices_xz);
ptfilter.setFilterFieldName ("intensity");
ptfilter.setFilterLimits (std::numeric_limits<float>::lowest(), 0.5);
ptfilter.setNegative (false);
ptfilter.filter (*cloud_out);
// The resulting cloud_out contains all points of cloud_in that are finite and have:
// x between 0.0 and 1000.0, z larger than 10.0 or smaller than -10.0 and intensity smaller than 0.5.

Author: Radu Bogdan Rusu

Definition at line 81 of file passthrough.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

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

Definition at line 92 of file passthrough.h.

◆ FieldList

template<typename PointT >

using pcl::PassThrough< PointT >::FieldList = typename pcl::traits::fieldList<PointT>::type

protected

Definition at line 87 of file passthrough.h.

◆ PointCloud

template<typename PointT >

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

protected

Definition at line 84 of file passthrough.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::PassThrough< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

protected

Definition at line 86 of file passthrough.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::PassThrough< PointT >::PointCloudPtr = typename PointCloud::Ptr

protected

Definition at line 85 of file passthrough.h.

◆ Ptr

template<typename PointT >

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

Definition at line 91 of file passthrough.h.

Constructor & Destructor Documentation

◆ PassThrough()

template<typename PointT >

pcl::PassThrough< PointT >::PassThrough ( 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 98 of file passthrough.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::PassThrough< 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 174 of file passthrough.h.

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

◆ applyFilterIndices()

template<typename PointT >

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

protected

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 47 of file passthrough.hpp.

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

◆ getFilterFieldName()

template<typename PointT >

std::string const pcl::PassThrough< PointT >::getFilterFieldName ( ) const

inline

Retrieve the name of the field to be used for filtering data.

Returns: The name of the field that will be used for filtering.

Definition at line 121 of file passthrough.h.

◆ getFilterLimits()

template<typename PointT >

void pcl::PassThrough< PointT >::getFilterLimits	(	float &	limit_min,
		float &	limit_max
	)		const

inline

Get the numerical limits for the field for filtering data.

Parameters

[out]	limit_min	The minimum allowed field value (default = std::numeric_limits<float>::lowest()).
[out]	limit_max	The maximum allowed field value (default = std::numeric_limits<float>::max()).

Definition at line 143 of file passthrough.h.

◆ getFilterLimitsNegative()

template<typename PointT >

bool pcl::PassThrough< PointT >::getFilterLimitsNegative ( ) const

inline

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Warning: This method will be removed in the future. Use getNegative() instead.

Returns: true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 154 of file passthrough.h.

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

◆ setFilterFieldName()

template<typename PointT >

void pcl::PassThrough< PointT >::setFilterFieldName ( const std::string & field_name )

inline

Provide the name of the field to be used for filtering data.

In conjunction with setFilterLimits(), points having values outside this interval for this field will be discarded.

Parameters

[in] field_name The name of the field that will be used for filtering.

Definition at line 112 of file passthrough.h.

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

◆ setFilterLimits()

template<typename PointT >

void pcl::PassThrough< PointT >::setFilterLimits	(	const float &	limit_min,
		const float &	limit_max
	)

inline

Set the numerical limits for the field for filtering data.

In conjunction with setFilterFieldName(), points having values outside this interval for this field will be discarded.

Parameters

[in]	limit_min	The minimum allowed field value (default = std::numeric_limits<float>::lowest()).
[in]	limit_max	The maximum allowed field value (default = std::numeric_limits<float>::max()).

Definition at line 132 of file passthrough.h.

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

pcl/filters/passthrough.h
pcl/filters/impl/passthrough.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ FieldList

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ PassThrough()

Member Function Documentation

◆ applyFilter()

◆ applyFilterIndices()

◆ getFilterFieldName()

◆ getFilterLimits()

◆ getFilterLimitsNegative()

◆ setFilterFieldName()

◆ setFilterLimits()

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