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 >:

Public Types
using	PCLPointCloud2 = pcl::PCLPointCloud2
using	PointCloud
using	Ptr
using	ConstPtr
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
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
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
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr

Public Member Functions
	FilterIndices (bool extract_removed_indices=false)
	Constructor.
void	filter (Indices &indices)
	Calls the filtering method and returns the filtered point cloud indices.
void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions.
bool	getNegative () const
	Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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.
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.
void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them.
Public Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
	Filter (bool extract_removed_indices=false)
	Empty constructor.
IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.
void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.
void	filter (PCLPointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.
Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
	PCLBase ()
	Empty constructor.
virtual	~PCLBase ()=default
	destructor.
void	setInputCloud (const PCLPointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PCLPointCloud2ConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
IndicesPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const pcl::PCLPointCloud2 &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual void	applyFilter (Indices &indices)=0
	Abstract filter method for point cloud indices.
void	applyFilter (PCLPointCloud2 &output) override=0
	Abstract filter method for point cloud.
Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
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.
bool	keep_organized_ {false}
	False = remove points (default), true = redefine points, keep structure.
float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).
Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr	removed_indices_
	Indices of the points that are removed.
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
std::string	filter_name_
	The filter name.
Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
std::vector< uindex_t >	field_sizes_
	The size of each individual field.
index_t	x_idx_
	The x-y-z fields indices.
index_t	y_idx_
index_t	z_idx_
std::string	x_field_name_
	The desired x-y-z field names.
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

◆ ConstPtr

using pcl::FilterIndices< pcl::PCLPointCloud2 >::ConstPtr

Definition at line 81 of file filter_indices.h.

◆ PCLPointCloud2

using pcl::FilterIndices< pcl::PCLPointCloud2 >::PCLPointCloud2 = pcl::PCLPointCloud2

Definition at line 198 of file filter_indices.h.

◆ PointCloud

using pcl::FilterIndices< pcl::PCLPointCloud2 >::PointCloud

Definition at line 78 of file filter_indices.h.

◆ Ptr

using pcl::FilterIndices< pcl::PCLPointCloud2 >::Ptr

Definition at line 80 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_indices Set to true if you want to extract the indices of points being removed (default = false).

Definition at line 203 of file filter_indices.h.

References pcl::Filter< pcl::PCLPointCloud2 >::Filter(), and user_filter_value_.

Referenced by pcl::CropBox< pcl::PCLPointCloud2 >::CropBox(), pcl::PassThrough< pcl::PCLPointCloud2 >::PassThrough(), pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::RadiusOutlierRemoval(), and pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::StatisticalOutlierRemoval().

Member Function Documentation

◆ applyFilter() [1/2]

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

protectedpure virtual

Abstract filter method for point cloud indices.

Implemented in pcl::CropBox< pcl::PCLPointCloud2 >, pcl::ExtractIndices< pcl::PCLPointCloud2 >, pcl::PassThrough< pcl::PCLPointCloud2 >, pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >, pcl::RandomSample< pcl::PCLPointCloud2 >, and pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >.

◆ applyFilter() [2/2]

void pcl::FilterIndices< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 & output )

overrideprotectedpure virtual

Abstract filter method for point cloud.

Implements pcl::Filter< pcl::PCLPointCloud2 >.

Implemented in pcl::CropBox< pcl::PCLPointCloud2 >, pcl::ExtractIndices< pcl::PCLPointCloud2 >, pcl::PassThrough< pcl::PCLPointCloud2 >, pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >, pcl::RandomSample< pcl::PCLPointCloud2 >, and pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >.

◆ filter()

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

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

Parameters

[out] indices the resultant filtered point cloud indices

◆ 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.

References keep_organized_.

◆ 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.

References negative_.

◆ 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_organized false = remove points (default), true = redefine points, keep structure.

Definition at line 241 of file filter_indices.h.

References keep_organized_.

◆ 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] negative false = normal filter behavior (default), true = inverted behavior.

Definition at line 222 of file filter_indices.h.

References negative_.

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

Definition at line 261 of file filter_indices.h.

References user_filter_value_.

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.

Referenced by getKeepOrganized(), and setKeepOrganized().

◆ 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.

Referenced by getNegative(), and setNegative().

◆ 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.

Referenced by FilterIndices(), and 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

Member Typedef Documentation

◆ ConstPtr

◆ PCLPointCloud2

◆ 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_