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

ExtractIndices extracts a set of indices from a point cloud. More...

#include <pcl/filters/extract_indices.h>

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

Public Types

typedef boost::shared_ptr
< ExtractIndices< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const ExtractIndices< 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

 ExtractIndices (bool extract_removed_indices=false)
 Constructor. More...
 
void filterDirectly (PointCloudPtr &cloud)
 Apply the filter and store the results directly in the input cloud. 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 Types

typedef FilterIndices< PointT >
::PointCloud 
PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef pcl::traits::fieldList
< PointT >::type 
FieldList
 

Protected Member Functions

void applyFilter (PointCloud &output)
 Filtered results are stored in a separate point cloud. More...
 
void applyFilter (std::vector< int > &indices)
 Filtered results are indexed by an indices array. More...
 
void applyFilterIndices (std::vector< int > &indices)
 Filtered results are indexed by an indices array. 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::ExtractIndices< PointT >

ExtractIndices extracts a set of indices from a point cloud.

Usage example:

pcl::ExtractIndices<PointType> eifilter (true); // Initializing with true will allow us to extract the removed indices
eifilter.setInputCloud (cloud_in);
eifilter.setIndices (indices_in);
eifilter.filter (*cloud_out);
// The resulting cloud_out contains all points of cloud_in that are indexed by indices_in
indices_rem = eifilter.getRemovedIndices ();
// The indices_rem array indexes all points of cloud_in that are not indexed by indices_in
eifilter.setNegative (true);
eifilter.filter (*indices_out);
// Alternatively: the indices_out array is identical to indices_rem
eifilter.setNegative (false);
eifilter.setUserFilterValue (1337.0);
eifilter.filterDirectly (cloud_in);
// This will directly modify cloud_in instead of creating a copy of the cloud
// It will overwrite all fields of the filtered points by the user value: 1337
Author
Radu Bogdan Rusu

Definition at line 70 of file extract_indices.h.

Member Typedef Documentation

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

Definition at line 81 of file extract_indices.h.

template<typename PointT>
typedef pcl::traits::fieldList<PointT>::type pcl::ExtractIndices< PointT >::FieldList
protected

Definition at line 76 of file extract_indices.h.

template<typename PointT>
typedef FilterIndices<PointT>::PointCloud pcl::ExtractIndices< PointT >::PointCloud
protected

Definition at line 73 of file extract_indices.h.

template<typename PointT>
typedef PointCloud::ConstPtr pcl::ExtractIndices< PointT >::PointCloudConstPtr
protected

Definition at line 75 of file extract_indices.h.

template<typename PointT>
typedef PointCloud::Ptr pcl::ExtractIndices< PointT >::PointCloudPtr
protected

Definition at line 74 of file extract_indices.h.

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

Definition at line 80 of file extract_indices.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::ExtractIndices< PointT >::ExtractIndices ( 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 86 of file extract_indices.h.

References pcl::Filter< PointT >::filter_name_, and pcl::PCLBase< PointT >::use_indices_.

Member Function Documentation

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

Filtered results are stored in a separate point cloud.

Parameters
[out]outputThe resultant point cloud.

Implements pcl::FilterIndices< PointT >.

Definition at line 79 of file extract_indices.hpp.

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

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

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 126 of file extract_indices.h.

References pcl::ExtractIndices< PointT >::applyFilterIndices().

template<typename PointT >
void pcl::ExtractIndices< PointT >::applyFilterIndices ( std::vector< int > &  indices)
protected

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Definition at line 118 of file extract_indices.hpp.

Referenced by pcl::ExtractIndices< PointT >::applyFilter().

template<typename PointT >
void pcl::ExtractIndices< PointT >::filterDirectly ( PointCloudPtr cloud)

Apply the filter and store the results directly in the input cloud.

This method will save the time and memory copy of an output cloud but can not alter the original size of the input cloud: It operates as though setKeepOrganized() is true and will overwrite the filtered points instead of remove them. All fields of filtered points are replaced with the value set by setUserFilterValue() (default = NaN). This method also automatically alters the input cloud set via setInputCloud(). It does not alter the value of the internal keep organized boolean as set by setKeepOrganized().

Parameters
cloudThe point cloud used for input and output.

Definition at line 48 of file extract_indices.hpp.


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