Point Cloud Library (PCL)  1.9.1-dev
local_maximum.h
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41 
42 #pragma once
43 
44 #include <pcl/filters/filter_indices.h>
45 #include <pcl/search/pcl_search.h>
46 
47 namespace pcl
48 {
49  /** \brief LocalMaximum downsamples the cloud, by eliminating points that are locally maximal.
50  *
51  * The LocalMaximum class analyzes each point and removes those that are
52  * found to be locally maximal with respect to their neighbors (found via
53  * radius search). The comparison is made in the z dimension only at this
54  * time.
55  *
56  * \author Bradley J Chambers
57  * \ingroup filters
58  */
59  template <typename PointT>
60  class LocalMaximum: public FilterIndices<PointT>
61  {
62  protected:
65 
66  public:
67  /** \brief Empty constructor. */
68  LocalMaximum (bool extract_removed_indices = false) :
69  FilterIndices<PointT>::FilterIndices (extract_removed_indices),
70  searcher_ (),
71  radius_ (1)
72  {
73  filter_name_ = "LocalMaximum";
74  }
75 
76  /** \brief Set the radius to use to determine if a point is the local max.
77  * \param[in] radius The radius to use to determine if a point is the local max.
78  */
79  inline void
80  setRadius (float radius) { radius_ = radius; }
81 
82  /** \brief Get the radius to use to determine if a point is the local max.
83  * \return The radius to use to determine if a point is the local max.
84  */
85  inline float
86  getRadius () const { return (radius_); }
87 
88  protected:
96 
97  /** \brief Downsample a Point Cloud by eliminating points that are locally maximal in z
98  * \param[out] output the resultant point cloud message
99  */
100  void
101  applyFilter (PointCloud &output) override;
102 
103  /** \brief Filtered results are indexed by an indices array.
104  * \param[out] indices The resultant indices.
105  */
106  void
107  applyFilter (std::vector<int> &indices) override
108  {
109  applyFilterIndices (indices);
110  }
111 
112  /** \brief Filtered results are indexed by an indices array.
113  * \param[out] indices The resultant indices.
114  */
115  void
116  applyFilterIndices (std::vector<int> &indices);
117 
118  private:
119  /** \brief A pointer to the spatial search object. */
120  SearcherPtr searcher_;
121 
122  /** \brief The radius to use to determine if a point is the local max. */
123  float radius_;
124  };
125 }
126 
127 #ifdef PCL_NO_PRECOMPILE
128 #include <pcl/filters/impl/local_maximum.hpp>
129 #endif
void setRadius(float radius)
Set the radius to use to determine if a point is the local max.
Definition: local_maximum.h:80
FilterIndices< PointT >::PointCloud PointCloud
Definition: local_maximum.h:63
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
void applyFilter(PointCloud &output) override
Downsample a Point Cloud by eliminating points that are locally maximal in z.
LocalMaximum downsamples the cloud, by eliminating points that are locally maximal.
Definition: local_maximum.h:60
void applyFilter(std::vector< int > &indices) override
Filtered results are indexed by an indices array.
FilterIndices represents the base class for filters that are about binary point removal.
Filter represents the base filter class.
Definition: filter.h:83
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
Definition: search.h:80
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.
PCL base class.
Definition: pcl_base.h:68
pcl::search::Search< PointT >::Ptr SearcherPtr
Definition: local_maximum.h:64
PointCloud represents the base class in PCL for storing collections of 3D points. ...
std::string filter_name_
The filter name.
Definition: filter.h:165
A point structure representing Euclidean xyz coordinates, and the RGB color.
LocalMaximum(bool extract_removed_indices=false)
Empty constructor.
Definition: local_maximum.h:68
float getRadius() const
Get the radius to use to determine if a point is the local max.
Definition: local_maximum.h:86