Point Cloud Library (PCL)  1.9.1-dev
shadowpoints.h
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37 
38 #pragma once
39 
40 #include <pcl/filters/filter_indices.h>
41 #include <ctime>
42 #include <climits>
43 
44 namespace pcl
45 {
46  /** \brief @b ShadowPoints removes the ghost points appearing on edge discontinuties
47  *
48  * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
49  * \ingroup filters
50  */
51  template<typename PointT, typename NormalT>
52  class ShadowPoints : public FilterIndices<PointT>
53  {
63 
65  typedef typename PointCloud::Ptr PointCloudPtr;
67  typedef typename pcl::PointCloud<NormalT>::Ptr NormalsPtr;
68 
69  public:
70 
71  typedef boost::shared_ptr< ShadowPoints<PointT, NormalT> > Ptr;
72  typedef boost::shared_ptr< const ShadowPoints<PointT, NormalT> > ConstPtr;
73 
74  /** \brief Empty constructor. */
75  ShadowPoints (bool extract_removed_indices = false) :
76  FilterIndices<PointT> (extract_removed_indices),
77  input_normals_ (),
78  threshold_ (0.1f)
79  {
80  filter_name_ = "ShadowPoints";
81  }
82 
83  /** \brief Set the normals computed on the input point cloud
84  * \param[in] normals the normals computed for the input cloud
85  */
86  inline void
87  setNormals (const NormalsPtr &normals) { input_normals_ = normals; }
88 
89  /** \brief Get the normals computed on the input point cloud */
90  inline NormalsPtr
91  getNormals () const { return (input_normals_); }
92 
93  /** \brief Set the threshold for shadow points rejection
94  * \param[in] threshold the threshold
95  */
96  inline void
97  setThreshold (float threshold) { threshold_ = threshold; }
98 
99  /** \brief Get the threshold for shadow points rejection */
100  inline float
101  getThreshold () const { return threshold_; }
102 
103  protected:
104 
105  /** \brief The normals computed at each point in the input cloud */
106  NormalsPtr input_normals_;
107 
108  /** \brief Sample of point indices into a separate PointCloud
109  * \param[out] output the resultant point cloud
110  */
111  void
112  applyFilter (PointCloud &output) override;
113 
114  /** \brief Sample of point indices
115  * \param[out] indices the resultant point cloud indices
116  */
117  void
118  applyFilter (std::vector<int> &indices) override;
119 
120  private:
121 
122  /** \brief Threshold for shadow point rejection
123  */
124  float threshold_;
125  };
126 }
127 
128 #ifdef PCL_NO_PRECOMPILE
129 #include <pcl/filters/impl/shadowpoints.hpp>
130 #endif
boost::shared_ptr< ShadowPoints< PointT, NormalT > > Ptr
Definition: shadowpoints.h:71
void applyFilter(PointCloud &output) override
Sample of point indices into a separate PointCloud.
PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:73
void setNormals(const NormalsPtr &normals)
Set the normals computed on the input point cloud.
Definition: shadowpoints.h:87
NormalsPtr getNormals() const
Get the normals computed on the input point cloud.
Definition: shadowpoints.h:91
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:427
FilterIndices represents the base class for filters that are about binary point removal.
PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:72
ShadowPoints(bool extract_removed_indices=false)
Empty constructor.
Definition: shadowpoints.h:75
NormalsPtr input_normals_
The normals computed at each point in the input cloud.
Definition: shadowpoints.h:106
void setThreshold(float threshold)
Set the threshold for shadow points rejection.
Definition: shadowpoints.h:97
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:428
PointCloud represents the base class in PCL for storing collections of 3D points. ...
float getThreshold() const
Get the threshold for shadow points rejection.
Definition: shadowpoints.h:101
ShadowPoints removes the ghost points appearing on edge discontinuties
Definition: shadowpoints.h:52
std::string filter_name_
The filter name.
Definition: filter.h:164
A point structure representing Euclidean xyz coordinates, and the RGB color.
boost::shared_ptr< const ShadowPoints< PointT, NormalT > > ConstPtr
Definition: shadowpoints.h:72