Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::CropHull< PointT > Class Template Reference

Filter points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes. More...

#include <pcl/filters/crop_hull.h>

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

Public Types

typedef boost::shared_ptr
< CropHull< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const CropHull< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::FilterIndices< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr
< FilterIndices< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const FilterIndices< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 CropHull ()
 Empty Constructor. More...
 
void setHullIndices (const std::vector< Vertices > &polygons)
 Set the vertices of the hull used to filter points. More...
 
std::vector< VerticesgetHullIndices () const
 Get the vertices of the hull used to filter points. More...
 
void setHullCloud (PointCloudPtr points)
 Set the point cloud that the hull indices refer to. More...
 
PointCloudPtr getHullCloud () const
 Get the point cloud that the hull indices refer to. More...
 
void setDim (int dim)
 Set the dimensionality of the hull to be used. More...
 
void setCropOutside (bool crop_outside)
 Remove points outside the hull (default), or those inside the hull. More...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
virtual ~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 ()
 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 ()
 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...
 
virtual ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices ()
 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)
 Filter the input points using the 2D or 3D polygon hull. More...
 
void applyFilter (std::vector< int > &indices)
 Filter the input points using the 2D or 3D polygon hull. 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::CropHull< PointT >

Filter points that lie inside or outside a 3D closed surface or 2D closed polygon, as generated by the ConvexHull or ConcaveHull classes.

Author
James Crosby

Definition at line 53 of file crop_hull.h.

Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr< const CropHull<PointT> > pcl::CropHull< PointT >::ConstPtr

Definition at line 66 of file crop_hull.h.

template<typename PointT >
typedef boost::shared_ptr< CropHull<PointT> > pcl::CropHull< PointT >::Ptr

Definition at line 65 of file crop_hull.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::CropHull< PointT >::CropHull ( )
inline

Empty Constructor.

Definition at line 69 of file crop_hull.h.

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

Member Function Documentation

template<typename PointT >
void pcl::CropHull< PointT >::applyFilter ( PointCloud output)
protectedvirtual

Filter the input points using the 2D or 3D polygon hull.

Parameters
[out]outputThe set of points that passed the filter

Implements pcl::FilterIndices< PointT >.

Definition at line 45 of file crop_hull.hpp.

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

Filter the input points using the 2D or 3D polygon hull.

Parameters
[out]indicesthe indices of the set of points that passed the filter.

Implements pcl::FilterIndices< PointT >.

Definition at line 70 of file crop_hull.hpp.

template<typename PointT >
PointCloudPtr pcl::CropHull< PointT >::getHullCloud ( ) const
inline

Get the point cloud that the hull indices refer to.

Definition at line 107 of file crop_hull.h.

template<typename PointT >
std::vector<Vertices> pcl::CropHull< PointT >::getHullIndices ( ) const
inline

Get the vertices of the hull used to filter points.

Definition at line 91 of file crop_hull.h.

template<typename PointT >
void pcl::CropHull< PointT >::setCropOutside ( bool  crop_outside)
inline

Remove points outside the hull (default), or those inside the hull.

Parameters
[in]crop_outsideIf true, the filter will remove points outside the hull. If false, those inside will be removed.

Definition at line 129 of file crop_hull.h.

template<typename PointT >
void pcl::CropHull< PointT >::setDim ( int  dim)
inline

Set the dimensionality of the hull to be used.

This should be set to correspond to the dimensionality of the convex/concave hull produced by the pcl::ConvexHull and pcl::ConcaveHull classes.

Parameters
[in]dimDimensionailty of the hull used to filter points.

Definition at line 119 of file crop_hull.h.

template<typename PointT >
void pcl::CropHull< PointT >::setHullCloud ( PointCloudPtr  points)
inline

Set the point cloud that the hull indices refer to.

Parameters
[in]pointsthe point cloud that the hull indices refer to

Definition at line 100 of file crop_hull.h.

template<typename PointT >
void pcl::CropHull< PointT >::setHullIndices ( const std::vector< Vertices > &  polygons)
inline

Set the vertices of the hull used to filter points.

Parameters
[in]polygonsVector of polygons (Vertices structures) forming the hull used for filtering points.

Definition at line 83 of file crop_hull.h.


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