Point Cloud Library (PCL)
1.7.0
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ShadowPoints removes the ghost points appearing on edge discontinuties More...
#include <pcl/filters/shadowpoints.h>
Public Types | |
typedef boost::shared_ptr < ShadowPoints< PointT, NormalT > > | Ptr |
typedef boost::shared_ptr < const ShadowPoints< PointT, NormalT > > | ConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef boost::shared_ptr < FilterIndices< PointT > > | Ptr |
typedef boost::shared_ptr < const FilterIndices< PointT > > | ConstPtr |
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typedef boost::shared_ptr < Filter< PointT > > | Ptr |
typedef boost::shared_ptr < const Filter< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
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... | |
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FilterIndices (bool extract_removed_indices=false) | |
Constructor. More... | |
virtual | ~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 () |
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 () |
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... | |
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Filter (bool extract_removed_indices=false) | |
Empty constructor. More... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () |
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... | |
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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 () |
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... | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Sample of point indices into a separate PointCloud. More... | |
void | applyFilter (std::vector< int > &indices) |
Sample of point indices. More... | |
Protected Attributes | |
NormalsPtr | input_normals_ |
The normals computed at each point in the input cloud. More... | |
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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... | |
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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... | |
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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... | |
ShadowPoints removes the ghost points appearing on edge discontinuties
Definition at line 53 of file shadowpoints.h.
typedef boost::shared_ptr< const ShadowPoints<PointT, NormalT> > pcl::ShadowPoints< PointT, NormalT >::ConstPtr |
Definition at line 73 of file shadowpoints.h.
typedef boost::shared_ptr< ShadowPoints<PointT, NormalT> > pcl::ShadowPoints< PointT, NormalT >::Ptr |
Definition at line 72 of file shadowpoints.h.
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inline |
Empty constructor.
Definition at line 76 of file shadowpoints.h.
References pcl::Filter< PointT >::filter_name_.
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protectedvirtual |
Sample of point indices into a separate PointCloud.
[out] | output | the resultant point cloud |
Implements pcl::Filter< PointT >.
Definition at line 47 of file shadowpoints.hpp.
References pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.
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protectedvirtual |
Sample of point indices.
[out] | indices | the resultant point cloud indices |
Implements pcl::FilterIndices< PointT >.
Definition at line 84 of file shadowpoints.hpp.
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inline |
Get the normals computed on the input point cloud.
Definition at line 92 of file shadowpoints.h.
References pcl::ShadowPoints< PointT, NormalT >::input_normals_.
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inline |
Get the threshold for shadow points rejection.
Definition at line 102 of file shadowpoints.h.
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inline |
Set the normals computed on the input point cloud.
[in] | normals | the normals computed for the input cloud |
Definition at line 88 of file shadowpoints.h.
References pcl::ShadowPoints< PointT, NormalT >::input_normals_.
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inline |
Set the threshold for shadow points rejection.
[in] | thresold | the threshold |
Definition at line 98 of file shadowpoints.h.
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protected |
The normals computed at each point in the input cloud.
Definition at line 107 of file shadowpoints.h.
Referenced by pcl::ShadowPoints< PointT, NormalT >::getNormals(), and pcl::ShadowPoints< PointT, NormalT >::setNormals().