Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::FilterIndices< PointT > Class Template Reference

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 >:

List of all members.

Public Types

typedef pcl::PointCloud< PointTPointCloud
typedef boost::shared_ptr
< FilterIndices< PointT > > 
Ptr
typedef boost::shared_ptr
< const FilterIndices< PointT > > 
ConstPtr

Public Member Functions

 FilterIndices (bool extract_removed_indices=false)
 Constructor.
virtual ~FilterIndices ()
 Empty virtual destructor.
void filter (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output.
void filter (std::vector< int > &indices)
 Calls the filtering method and returns the filtered point cloud indices.
void setNegative (bool negative)
 Set whether the regular conditions for points filtering should apply, or the inverted conditions.
bool getNegative ()
 Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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.
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.
void setUserFilterValue (float value)
 Provide a value that the filtered points should be set to instead of removing them.

Protected Member Functions

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

Protected Attributes

bool negative_
 False = normal filter behavior (default), true = inverted behavior.
bool keep_organized_
 False = remove points (default), true = redefine points, keep structure.
float user_filter_value_
 The user given value that the filtered point dimensions should be set to (default = NaN).

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 68 of file filter_indices.h.


Member Typedef Documentation

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

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 81 of file filter_indices.h.

template<typename PointT>
virtual pcl::FilterIndices< PointT >::~FilterIndices ( ) [inline, virtual]

Empty virtual destructor.

Definition at line 91 of file filter_indices.h.


Member Function Documentation

template<typename PointT>
virtual void pcl::FilterIndices< PointT >::applyFilter ( std::vector< int > &  indices) [protected, pure virtual]
template<typename PointT>
void pcl::FilterIndices< PointT >::filter ( PointCloud output) [inline]

Calls the filtering method and returns the filtered dataset in output.

Parameters:
[out]outputthe resultant filtered point cloud dataset

Reimplemented from pcl::Filter< PointT >.

Definition at line 96 of file filter_indices.h.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute(), pcl::FilterIndices< PointInT >::filter(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().

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 105 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 149 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 129 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 139 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 120 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 159 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 172 of file filter_indices.h.

Referenced by pcl::FilterIndices< PointInT >::getKeepOrganized(), and pcl::FilterIndices< PointInT >::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 175 of file filter_indices.h.

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


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