Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::FilterIndices< pcl::PCLPointCloud2 > Class 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< pcl::PCLPointCloud2 >:
+ Collaboration diagram for pcl::FilterIndices< pcl::PCLPointCloud2 >:

Public Types

using PCLPointCloud2 = pcl::PCLPointCloud2
 
- Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
using Ptr = shared_ptr< Filter< pcl::PCLPointCloud2 > >
 
using ConstPtr = shared_ptr< const Filter< pcl::PCLPointCloud2 > >
 
using PCLPointCloud2 = pcl::PCLPointCloud2
 
using PCLPointCloud2Ptr = PCLPointCloud2::Ptr
 
using PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr
 
- Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
using PCLPointCloud2 = pcl::PCLPointCloud2
 
using PCLPointCloud2Ptr = PCLPointCloud2::Ptr
 
using PCLPointCloud2ConstPtr = PCLPointCloud2::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< pcl::PCLPointCloud2 >
 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 (PCLPointCloud2 &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
 PCLBase ()
 Empty constructor. More...
 
virtual ~PCLBase ()=default
 destructor. More...
 
void setInputCloud (const PCLPointCloud2ConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PCLPointCloud2ConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
IndicesPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 

Protected Member Functions

virtual void applyFilter (Indices &indices)=0
 Abstract filter method for point cloud indices. More...
 
void applyFilter (PCLPointCloud2 &output) override=0
 Abstract filter method for point cloud. More...
 
- Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool initCompute ()
 
bool deinitCompute ()
 

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< pcl::PCLPointCloud2 >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
std::string filter_name_
 The filter name. More...
 
- Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr 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...
 
std::vector< uindex_tfield_sizes_
 The size of each individual field. More...
 
index_t x_idx_
 The x-y-z fields indices. More...
 
index_t y_idx_
 
index_t z_idx_
 
std::string x_field_name_
 The desired x-y-z field names. More...
 
std::string y_field_name_
 
std::string z_field_name_
 

Detailed Description

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 195 of file filter_indices.h.

Member Typedef Documentation

◆ PCLPointCloud2

Definition at line 198 of file filter_indices.h.

Constructor & Destructor Documentation

◆ FilterIndices()

pcl::FilterIndices< pcl::PCLPointCloud2 >::FilterIndices ( bool  extract_removed_indices = false)
inline

Constructor.

Parameters
[in]extract_removed_indicesSet to true if you want to extract the indices of points being removed (default = false).

Definition at line 203 of file filter_indices.h.

Member Function Documentation

◆ applyFilter() [1/2]

virtual void pcl::FilterIndices< pcl::PCLPointCloud2 >::applyFilter ( Indices indices)
protectedpure virtual

◆ applyFilter() [2/2]

void pcl::FilterIndices< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 output)
overrideprotectedpure virtual

◆ filter()

void pcl::FilterIndices< pcl::PCLPointCloud2 >::filter ( Indices indices)

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

Parameters
[out]indicesthe resultant filtered point cloud indices

Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud_and_genLOD(), and pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample().

◆ getKeepOrganized()

bool pcl::FilterIndices< pcl::PCLPointCloud2 >::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 251 of file filter_indices.h.

◆ getNegative()

bool pcl::FilterIndices< pcl::PCLPointCloud2 >::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 231 of file filter_indices.h.

◆ setKeepOrganized()

void pcl::FilterIndices< pcl::PCLPointCloud2 >::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 241 of file filter_indices.h.

◆ setNegative()

void pcl::FilterIndices< pcl::PCLPointCloud2 >::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 222 of file filter_indices.h.

Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud_and_genLOD().

◆ setUserFilterValue()

void pcl::FilterIndices< pcl::PCLPointCloud2 >::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 261 of file filter_indices.h.

Member Data Documentation

◆ keep_organized_

bool pcl::FilterIndices< pcl::PCLPointCloud2 >::keep_organized_ {false}
protected

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

Definition at line 272 of file filter_indices.h.

◆ negative_

bool pcl::FilterIndices< pcl::PCLPointCloud2 >::negative_ {false}
protected

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

Definition at line 269 of file filter_indices.h.

◆ user_filter_value_

float pcl::FilterIndices< pcl::PCLPointCloud2 >::user_filter_value_
protected

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

Definition at line 275 of file filter_indices.h.


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