ShadowPoints removes the ghost points appearing on edge discontinuties More...

#include <pcl/filters/shadowpoints.h>

Inheritance diagram for pcl::ShadowPoints< PointT, NormalT >:

Collaboration diagram for pcl::ShadowPoints< PointT, NormalT >:

Public Types
using	Ptr = shared_ptr< ShadowPoints< PointT, NormalT > >

using	ConstPtr = shared_ptr< const ShadowPoints< PointT, NormalT > >

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
	ShadowPoints (bool extract_removed_indices=false)
	Empty constructor. More...

void	setNormals (const NormalsPtr &normals)
	Set the normals computed on the input point cloud. More...

NormalsPtr	getNormals () const
	Get the normals computed on the input point cloud. More...

void	setThreshold (float threshold)
	Set the threshold for shadow points rejection. More...

float	getThreshold () const
	Get the threshold for shadow points rejection. 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 (PointCloud &output) override
	Sample of point indices into a separate PointCloud. More...

void	applyFilter (Indices &indices) override
	Sample of point indices. 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
NormalsPtr	input_normals_
	The normals computed at each point in the input cloud. More...

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, typename NormalT>
class pcl::ShadowPoints< PointT, NormalT >

ShadowPoints removes the ghost points appearing on edge discontinuties

Author: Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 50 of file shadowpoints.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename NormalT >

using pcl::ShadowPoints< PointT, NormalT >::ConstPtr = shared_ptr< const ShadowPoints<PointT, NormalT> >

Definition at line 70 of file shadowpoints.h.

◆ Ptr

template<typename PointT , typename NormalT >

using pcl::ShadowPoints< PointT, NormalT >::Ptr = shared_ptr< ShadowPoints<PointT, NormalT> >

Definition at line 69 of file shadowpoints.h.

Constructor & Destructor Documentation

◆ ShadowPoints()

template<typename PointT , typename NormalT >

pcl::ShadowPoints< PointT, NormalT >::ShadowPoints ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 73 of file shadowpoints.h.

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

Member Function Documentation

◆ applyFilter() [1/2]

template<typename PointT , typename NormalT >

void pcl::ShadowPoints< PointT, NormalT >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Sample of point indices.

Parameters

[out] indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 86 of file shadowpoints.hpp.

◆ applyFilter() [2/2]

template<typename PointT , typename NormalT >

void pcl::ShadowPoints< PointT, NormalT >::applyFilter ( PointCloud & output )

overrideprotectedvirtual

Sample of point indices into a separate PointCloud.

Parameters

[out] output the resultant point cloud

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 47 of file shadowpoints.hpp.

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

◆ getNormals()

template<typename PointT , typename NormalT >

NormalsPtr pcl::ShadowPoints< PointT, NormalT >::getNormals ( ) const

inline

Get the normals computed on the input point cloud.

Definition at line 88 of file shadowpoints.h.

References pcl::ShadowPoints< PointT, NormalT >::input_normals_.

◆ getThreshold()

template<typename PointT , typename NormalT >

float pcl::ShadowPoints< PointT, NormalT >::getThreshold ( ) const

inline

Get the threshold for shadow points rejection.

Definition at line 98 of file shadowpoints.h.

◆ setNormals()

template<typename PointT , typename NormalT >

void pcl::ShadowPoints< PointT, NormalT >::setNormals ( const NormalsPtr & normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 84 of file shadowpoints.h.

References pcl::ShadowPoints< PointT, NormalT >::input_normals_.

◆ setThreshold()

template<typename PointT , typename NormalT >

void pcl::ShadowPoints< PointT, NormalT >::setThreshold ( float threshold )

inline

Set the threshold for shadow points rejection.

Parameters

[in] threshold the threshold

Definition at line 94 of file shadowpoints.h.

Member Data Documentation

◆ input_normals_

template<typename PointT , typename NormalT >

NormalsPtr pcl::ShadowPoints< PointT, NormalT >::input_normals_

protected

The normals computed at each point in the input cloud.

Definition at line 103 of file shadowpoints.h.

Referenced by pcl::ShadowPoints< PointT, NormalT >::getNormals(), and pcl::ShadowPoints< PointT, NormalT >::setNormals().

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

pcl/filters/shadowpoints.h
pcl/filters/impl/shadowpoints.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT, typename NormalT> class pcl::ShadowPoints< PointT, NormalT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ShadowPoints()

Member Function Documentation

◆ applyFilter() [1/2]

◆ applyFilter() [2/2]

◆ getNormals()

◆ getThreshold()

◆ setNormals()

◆ setThreshold()

Member Data Documentation

◆ input_normals_

template<typename PointT, typename NormalT>
class pcl::ShadowPoints< PointT, NormalT >