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

ShadowPoints removes the ghost points appearing on edge discontinuties More...

#include <pcl/filters/shadowpoints.h>

+ Inheritance diagram for pcl::ShadowPoints< PointT, NormalT >:

Public Types

using Ptr = boost::shared_ptr< ShadowPoints< PointT, NormalT > >
 
using ConstPtr = boost::shared_ptr< const ShadowPoints< PointT, NormalT > >
 
- 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

 ShadowPoints (bool extract_removed_indices=false)
 Empty constructor. More...
 
void setNormals (const NormalsPtr &normals)
 Set the normals computed on the input point cloud. More...
 
NormalsPtr getNormals () const
 Get the normals computed on the input point cloud. More...
 
void setThreshold (float threshold)
 Set the threshold for shadow points rejection. More...
 
float getThreshold () const
 Get the threshold for shadow points rejection. 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...
 

Protected Attributes

NormalsPtr input_normals_
 The normals computed at each point in the input cloud. More...
 
- 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, typename NormalT>
class pcl::ShadowPoints< PointT, NormalT >

ShadowPoints removes the ghost points appearing on edge discontinuties

Author
Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 52 of file shadowpoints.h.

Member Typedef Documentation

template<typename PointT , typename NormalT >
using pcl::ShadowPoints< PointT, NormalT >::ConstPtr = boost::shared_ptr< const ShadowPoints<PointT, NormalT> >

Definition at line 72 of file shadowpoints.h.

template<typename PointT , typename NormalT >
using pcl::ShadowPoints< PointT, NormalT >::Ptr = boost::shared_ptr< ShadowPoints<PointT, NormalT> >

Definition at line 71 of file shadowpoints.h.

Constructor & Destructor Documentation

template<typename PointT , typename NormalT >
pcl::ShadowPoints< PointT, NormalT >::ShadowPoints ( bool  extract_removed_indices = false)
inline

Empty constructor.

Definition at line 75 of file shadowpoints.h.

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

Member Function Documentation

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::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 47 of file shadowpoints.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

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

Sample of point indices.

Parameters
[out]indicesthe resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 84 of file shadowpoints.hpp.

template<typename PointT , typename NormalT >
NormalsPtr pcl::ShadowPoints< PointT, NormalT >::getNormals ( ) const
inline

Get the normals computed on the input point cloud.

Definition at line 91 of file shadowpoints.h.

References pcl::ShadowPoints< PointT, NormalT >::input_normals_.

template<typename PointT , typename NormalT >
float pcl::ShadowPoints< PointT, NormalT >::getThreshold ( ) const
inline

Get the threshold for shadow points rejection.

Definition at line 101 of file shadowpoints.h.

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::setNormals ( const NormalsPtr &  normals)
inline

Set the normals computed on the input point cloud.

Parameters
[in]normalsthe normals computed for the input cloud

Definition at line 87 of file shadowpoints.h.

References pcl::ShadowPoints< PointT, NormalT >::input_normals_.

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::setThreshold ( float  threshold)
inline

Set the threshold for shadow points rejection.

Parameters
[in]thresholdthe threshold

Definition at line 97 of file shadowpoints.h.

Member Data Documentation

template<typename PointT , typename NormalT >
NormalsPtr pcl::ShadowPoints< PointT, NormalT >::input_normals_
protected

The normals computed at each point in the input cloud.

Definition at line 106 of file shadowpoints.h.

Referenced by pcl::ShadowPoints< PointT, NormalT >::getNormals(), and pcl::ShadowPoints< PointT, NormalT >::setNormals().


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