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

Public Types

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

 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

virtual void applyFilter (std::vector< int > &indices)=0
 Abstract filter method for point cloud indices. More...
 
virtual void applyFilter (PointCloud &output)=0
 Abstract filter method for point cloud. 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...
 

Protected Attributes

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::FilterIndices< PointT >

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 (std::vector<int> &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 75 of file filter_indices.h.

Member Typedef Documentation

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

Definition at line 82 of file filter_indices.h.

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

Definition at line 79 of file filter_indices.h.

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

Definition at line 81 of file filter_indices.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::FilterIndices< PointT >::FilterIndices ( 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 88 of file filter_indices.h.

template<typename PointT>
virtual pcl::FilterIndices< PointT >::~FilterIndices ( )
inlinevirtual

Empty virtual destructor.

Definition at line 98 of file filter_indices.h.

Member Function Documentation

template<typename PointT>
virtual void pcl::FilterIndices< PointT >::applyFilter ( std::vector< int > &  indices)
protectedpure virtual
template<typename PointT>
virtual void pcl::FilterIndices< PointT >::applyFilter ( PointCloud output)
protectedpure virtual
template<typename PointT>
void pcl::FilterIndices< PointT >::filter ( PointCloud output)
inline
template<typename PointT>
void pcl::FilterIndices< PointT >::filter ( std::vector< int > &  indices)
inline

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

Parameters
[out]indicesthe resultant filtered point cloud indices

Definition at line 112 of file filter_indices.h.

template<typename PointT>
bool pcl::FilterIndices< PointT >::getKeepOrganized ( )
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 156 of file filter_indices.h.

template<typename PointT>
bool pcl::FilterIndices< PointT >::getNegative ( )
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 136 of file filter_indices.h.

template<typename PointT>
void pcl::FilterIndices< PointT >::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 146 of file filter_indices.h.

Referenced by pcl::tracking::ParticleFilterTracker< PointInT, StateT >::ParticleFilterTracker().

template<typename PointT>
void pcl::FilterIndices< PointT >::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 127 of file filter_indices.h.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute().

template<typename PointT>
void pcl::FilterIndices< PointT >::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 166 of file filter_indices.h.

Member Data Documentation

template<typename PointT>
bool pcl::FilterIndices< PointT >::keep_organized_
protected

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

Definition at line 180 of file filter_indices.h.

Referenced by pcl::FilterIndices< pcl::pcl::PCLPointCloud2 >::getKeepOrganized(), and pcl::FilterIndices< pcl::pcl::PCLPointCloud2 >::setKeepOrganized().

template<typename PointT>
bool pcl::FilterIndices< PointT >::negative_
protected
template<typename PointT>
float pcl::FilterIndices< PointT >::user_filter_value_
protected

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

Definition at line 183 of file filter_indices.h.

Referenced by pcl::FilterIndices< pcl::pcl::PCLPointCloud2 >::setUserFilterValue().


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