Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::CropBox< PointT > Class Template Reference

CropBox is a filter that allows the user to filter all the data inside of a given box. More...

#include <pcl/filters/crop_box.h>

+ Inheritance diagram for pcl::CropBox< PointT >:

Public Types

using Ptr = boost::shared_ptr< CropBox< PointT > >
 
using ConstPtr = boost::shared_ptr< const CropBox< PointT > >
 
- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using Ptr = boost::shared_ptr< FilterIndices< PointT > >
 
using ConstPtr = boost::shared_ptr< const FilterIndices< PointT > >
 
- Public Types inherited from pcl::Filter< PointT >
using Ptr = boost::shared_ptr< Filter< PointT > >
 
using ConstPtr = boost::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 = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

Public Member Functions

 CropBox (bool extract_removed_indices=false)
 Constructor. More...
 
void setMin (const Eigen::Vector4f &min_pt)
 Set the minimum point of the box. More...
 
Eigen::Vector4f getMin () const
 Get the value of the minimum point of the box, as set by the user. More...
 
void setMax (const Eigen::Vector4f &max_pt)
 Set the maximum point of the box. More...
 
Eigen::Vector4f getMax () const
 Get the value of the maximum point of the box, as set by the user. More...
 
void setTranslation (const Eigen::Vector3f &translation)
 Set a translation value for the box. More...
 
Eigen::Vector3f getTranslation () const
 Get the value of the box translation parameter as set by the user. More...
 
void setRotation (const Eigen::Vector3f &rotation)
 Set a rotation value for the box. More...
 
Eigen::Vector3f getRotation () const
 Get the value of the box rotatation parameter, as set by the user. More...
 
void setTransform (const Eigen::Affine3f &transform)
 Set a transformation that should be applied to the cloud before filtering. More...
 
Eigen::Affine3f getTransform () const
 Get the value of the transformation parameter, as set by the user. More...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
 ~FilterIndices ()
 Empty virtual destructor. More...
 
void filter (PointCloud &output)
 
void filter (std::vector< int > &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...
 
 ~Filter ()
 Empty destructor. 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 ()
 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const 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 PointToperator[] (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 (std::vector< int > &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...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
 False = normal filter behavior (default), true = inverted behavior. More...
 
bool keep_organized_
 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::CropBox< PointT >

CropBox is a filter that allows the user to filter all the data inside of a given box.

Author
Justin Rosen

Definition at line 56 of file crop_box.h.

Member Typedef Documentation

template<typename PointT >
using pcl::CropBox< PointT >::ConstPtr = boost::shared_ptr<const CropBox<PointT> >

Definition at line 67 of file crop_box.h.

template<typename PointT >
using pcl::CropBox< PointT >::Ptr = boost::shared_ptr<CropBox<PointT> >

Definition at line 66 of file crop_box.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::CropBox< PointT >::CropBox ( bool  extract_removed_indices = false)
inline

Constructor.

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

Definition at line 72 of file crop_box.h.

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

Member Function Documentation

template<typename PointT >
void pcl::CropBox< PointT >::applyFilter ( PointCloud output)
overrideprotectedvirtual

Sample of point indices into a separate PointCloud.

Parameters
[out]outputthe resultant point cloud

Implements pcl::FilterIndices< PointT >.

Definition at line 49 of file crop_box.hpp.

References pcl::copyPointCloud(), pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::points.

Referenced by pcl::CropBox< PointT >::getTransform(), and pcl::CropBox< pcl::PCLPointCloud2 >::getTransform().

template<typename PointT >
void pcl::CropBox< PointT >::applyFilter ( std::vector< int > &  indices)
overrideprotectedvirtual

Sample of point indices.

Parameters
[out]indicesthe resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 75 of file crop_box.hpp.

References pcl::getTransformation(), and pcl::isFinite().

template<typename PointT >
Eigen::Vector4f pcl::CropBox< PointT >::getMax ( ) const
inline

Get the value of the maximum point of the box, as set by the user.

Returns
the value of the internal max_pt parameter.

Definition at line 114 of file crop_box.h.

template<typename PointT >
Eigen::Vector4f pcl::CropBox< PointT >::getMin ( ) const
inline

Get the value of the minimum point of the box, as set by the user.

Returns
the value of the internal min_pt parameter.

Definition at line 96 of file crop_box.h.

template<typename PointT >
Eigen::Vector3f pcl::CropBox< PointT >::getRotation ( ) const
inline

Get the value of the box rotatation parameter, as set by the user.

Definition at line 146 of file crop_box.h.

template<typename PointT >
Eigen::Affine3f pcl::CropBox< PointT >::getTransform ( ) const
inline

Get the value of the transformation parameter, as set by the user.

Definition at line 162 of file crop_box.h.

References pcl::CropBox< PointT >::applyFilter().

template<typename PointT >
Eigen::Vector3f pcl::CropBox< PointT >::getTranslation ( ) const
inline

Get the value of the box translation parameter as set by the user.

Definition at line 130 of file crop_box.h.

template<typename PointT >
void pcl::CropBox< PointT >::setMax ( const Eigen::Vector4f &  max_pt)
inline

Set the maximum point of the box.

Parameters
[in]max_ptthe maximum point of the box

Definition at line 105 of file crop_box.h.

template<typename PointT >
void pcl::CropBox< PointT >::setMin ( const Eigen::Vector4f &  min_pt)
inline

Set the minimum point of the box.

Parameters
[in]min_ptthe minimum point of the box

Definition at line 87 of file crop_box.h.

template<typename PointT >
void pcl::CropBox< PointT >::setRotation ( const Eigen::Vector3f &  rotation)
inline

Set a rotation value for the box.

Parameters
[in]rotationthe (rx,ry,rz) values that the box should be rotated by

Definition at line 139 of file crop_box.h.

template<typename PointT >
void pcl::CropBox< PointT >::setTransform ( const Eigen::Affine3f &  transform)
inline

Set a transformation that should be applied to the cloud before filtering.

Parameters
[in]transforman affine transformation that needs to be applied to the cloud before filtering

Definition at line 155 of file crop_box.h.

template<typename PointT >
void pcl::CropBox< PointT >::setTranslation ( const Eigen::Vector3f &  translation)
inline

Set a translation value for the box.

Parameters
[in]translationthe (tx,ty,tz) values that the box should be translated by

Definition at line 123 of file crop_box.h.


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