Point Cloud Library (PCL)  1.9.1-dev
extract_indices.h
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39 
40 #pragma once
41 
42 #include <pcl/filters/filter_indices.h>
43 
44 namespace pcl
45 {
46  /** \brief @b ExtractIndices extracts a set of indices from a point cloud.
47  * \details Usage example:
48  * \code
49  * pcl::ExtractIndices<PointType> eifilter (true); // Initializing with true will allow us to extract the removed indices
50  * eifilter.setInputCloud (cloud_in);
51  * eifilter.setIndices (indices_in);
52  * eifilter.filter (*cloud_out);
53  * // The resulting cloud_out contains all points of cloud_in that are indexed by indices_in
54  * indices_rem = eifilter.getRemovedIndices ();
55  * // The indices_rem array indexes all points of cloud_in that are not indexed by indices_in
56  * eifilter.setNegative (true);
57  * eifilter.filter (*indices_out);
58  * // Alternatively: the indices_out array is identical to indices_rem
59  * eifilter.setNegative (false);
60  * eifilter.setUserFilterValue (1337.0);
61  * eifilter.filterDirectly (cloud_in);
62  * // This will directly modify cloud_in instead of creating a copy of the cloud
63  * // It will overwrite all fields of the filtered points by the user value: 1337
64  * \endcode
65  * \author Radu Bogdan Rusu
66  * \ingroup filters
67  */
68  template<typename PointT>
69  class ExtractIndices : public FilterIndices<PointT>
70  {
71  protected:
73  typedef typename PointCloud::Ptr PointCloudPtr;
76 
77  public:
78 
79  typedef boost::shared_ptr< ExtractIndices<PointT> > Ptr;
80  typedef boost::shared_ptr< const ExtractIndices<PointT> > ConstPtr;
81 
82  /** \brief Constructor.
83  * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
84  */
85  ExtractIndices (bool extract_removed_indices = false) :
86  FilterIndices<PointT>::FilterIndices (extract_removed_indices)
87  {
88  use_indices_ = true;
89  filter_name_ = "ExtractIndices";
90  }
91 
92  /** \brief Apply the filter and store the results directly in the input cloud.
93  * \details This method will save the time and memory copy of an output cloud but can not alter the original size of the input cloud:
94  * It operates as though setKeepOrganized() is true and will overwrite the filtered points instead of remove them.
95  * All fields of filtered points are replaced with the value set by setUserFilterValue() (default = NaN).
96  * This method also automatically alters the input cloud set via setInputCloud().
97  * It does not alter the value of the internal keep organized boolean as set by setKeepOrganized().
98  * \param cloud The point cloud used for input and output.
99  */
100  void
101  filterDirectly (PointCloudPtr &cloud);
102 
103  protected:
114 
115  /** \brief Filtered results are stored in a separate point cloud.
116  * \param[out] output The resultant point cloud.
117  */
118  void
119  applyFilter (PointCloud &output) override;
120 
121  /** \brief Filtered results are indexed by an indices array.
122  * \param[out] indices The resultant indices.
123  */
124  void
125  applyFilter (std::vector<int> &indices) override
126  {
127  applyFilterIndices (indices);
128  }
129 
130  /** \brief Filtered results are indexed by an indices array.
131  * \param[out] indices The resultant indices.
132  */
133  void
134  applyFilterIndices (std::vector<int> &indices);
135  };
136 
137  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
138  /** \brief @b ExtractIndices extracts a set of indices from a point cloud.
139  * <br>
140  * Usage examples:
141  * \code
142  * pcl::ExtractIndices<PointType> filter;
143  * filter.setInputCloud (cloud_in);
144  * filter.setIndices (indices_in);
145  * // Extract the points in cloud_in referenced by indices_in as a separate point cloud:
146  * filter.filter (*cloud_out);
147  * // Retrieve indices to all points in cloud_in except those referenced by indices_in:
148  * filter.setNegative (true);
149  * filter.filter (*indices_out);
150  * // The resulting cloud_out is identical to cloud_in, but all points referenced by indices_in are made NaN:
151  * filter.setNegative (true);
152  * filter.setKeepOrganized (true);
153  * filter.filter (*cloud_out);
154  * \endcode
155  * \note Does not inherently remove NaNs from results, hence the \a extract_removed_indices_ system is not used.
156  * \author Radu Bogdan Rusu
157  * \ingroup filters
158  */
159  template<>
160  class PCL_EXPORTS ExtractIndices<pcl::PCLPointCloud2> : public FilterIndices<pcl::PCLPointCloud2>
161  {
162  public:
166 
167  /** \brief Empty constructor. */
169  {
170  use_indices_ = true;
171  filter_name_ = "ExtractIndices";
172  }
173 
174  protected:
183 
184  /** \brief Extract point indices into a separate PointCloud
185  * \param[out] output the resultant point cloud
186  */
187  void
188  applyFilter (PCLPointCloud2 &output) override;
189 
190  /** \brief Extract point indices
191  * \param indices the resultant indices
192  */
193  void
194  applyFilter (std::vector<int> &indices) override;
195  };
196 }
197 
198 #ifdef PCL_NO_PRECOMPILE
199 #include <pcl/filters/impl/extract_indices.hpp>
200 #endif
void applyFilter(PointCloud &output) override
Filtered results are stored in a separate point cloud.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
bool use_indices_
Set to true if point indices are used.
Definition: pcl_base.h:156
boost::shared_ptr< ::pcl::PCLPointCloud2 > Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:427
FilterIndices represents the base class for filters that are about binary point removal.
Filter represents the base filter class.
Definition: filter.h:83
FilterIndices< PointT >::PointCloud PointCloud
PCL base class.
Definition: pcl_base.h:68
PointCloud::Ptr PointCloudPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:428
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.
ExtractIndices(bool extract_removed_indices=false)
Constructor.
boost::shared_ptr< const ExtractIndices< PointT > > ConstPtr
pcl::traits::fieldList< PointT >::type FieldList
std::string filter_name_
The filter name.
Definition: filter.h:164
A point structure representing Euclidean xyz coordinates, and the RGB color.
void applyFilter(std::vector< int > &indices) override
Filtered results are indexed by an indices array.
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
ExtractIndices extracts a set of indices from a point cloud.
boost::shared_ptr< ExtractIndices< PointT > > Ptr
PointCloud::ConstPtr PointCloudConstPtr
void filterDirectly(PointCloudPtr &cloud)
Apply the filter and store the results directly in the input cloud.