ConditionalRemoval filters data that satisfies certain conditions. More...
#include <conditional_removal.h>
Public Types | |
| typedef pcl::ConditionBase < PointT > | ConditionBase |
| typedef ConditionBase::ConstPtr | ConditionBaseConstPtr |
| typedef ConditionBase::Ptr | ConditionBasePtr |
Public Member Functions | |
| ConditionalRemoval (ConditionBasePtr condition) | |
| a constructor that includes the condition. | |
| ConditionalRemoval () | |
| the default constructor. | |
| bool | getKeepOrganized () |
| void | setCondition (ConditionBasePtr condition) |
| Set the condition that the filter will use. | |
| void | setKeepOrganized (bool val) |
| 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. By default, points are removed. | |
Protected Types | |
| typedef pcl::traits::fieldList < PointT >::type | FieldList |
Protected Member Functions | |
| void | applyFilter (PointCloud &output) |
| Filter a Point Cloud. | |
Protected Attributes | |
| bool | capable_ |
| True if capable. | |
| ConditionBasePtr | condition_ |
| The condition to use for filtering. | |
| bool | keep_organized_ |
| Keep the structure of the data organized, by setting the filtered points to the a user given value (NaN by default). | |
Private Types | |
| typedef Filter< PointT > ::PointCloud | PointCloud |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointCloud::Ptr | PointCloudPtr |
ConditionalRemoval filters data that satisfies certain conditions.
A ConditionalRemoval must be provided a condition. There are two types of conditions: ConditionAnd and ConditionOr. Conditions require one or more comparisons and/or other conditions. A comparison has a name, a comparison operator, and a value.
An ConditionAnd will evaluate to true when ALL of its encapsulated comparisons and conditions are true.
An ConditionOr will evaluate to true when ANY of its encapsulated comparisons and conditions are true.
Depending on the derived type of the comparison, the name can correspond to a PointCloud field name, or a color component in rgb color space or hsi color space.
Here is an example usage: // Build the condition pcl::ConditionAnd<PointT>::Ptr range_cond (new pcl::ConditionAnd<PointT> ()); range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::LT, 2.0))); range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::GT, 0.0))); // Build the filter pcl::ConditionalRemoval<PointT> range_filt; range_filt.setCondition (range_cond); range_filt.setKeepOrganized (false);
Definition at line 381 of file conditional_removal.h.
| typedef pcl::ConditionBase<PointT> pcl::ConditionalRemoval< PointT >::ConditionBase |
Definition at line 392 of file conditional_removal.h.
| typedef ConditionBase::ConstPtr pcl::ConditionalRemoval< PointT >::ConditionBaseConstPtr |
Definition at line 394 of file conditional_removal.h.
| typedef ConditionBase::Ptr pcl::ConditionalRemoval< PointT >::ConditionBasePtr |
Definition at line 393 of file conditional_removal.h.
typedef pcl::traits::fieldList<PointT>::type pcl::ConditionalRemoval< PointT >::FieldList [protected] |
Definition at line 443 of file conditional_removal.h.
typedef Filter<PointT>::PointCloud pcl::ConditionalRemoval< PointT >::PointCloud [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 387 of file conditional_removal.h.
typedef PointCloud::ConstPtr pcl::ConditionalRemoval< PointT >::PointCloudConstPtr [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 389 of file conditional_removal.h.
typedef PointCloud::Ptr pcl::ConditionalRemoval< PointT >::PointCloudPtr [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 388 of file conditional_removal.h.
| pcl::ConditionalRemoval< PointT >::ConditionalRemoval | ( | ) | [inline] |
the default constructor.
All ConditionalRemovals require a condition which can be set using the setCondition method
Definition at line 401 of file conditional_removal.h.
| pcl::ConditionalRemoval< PointT >::ConditionalRemoval | ( | ConditionBasePtr | condition | ) | [inline] |
a constructor that includes the condition.
| condition | the condition that each point must satisfy to avoid being removed by the filter |
Definition at line 410 of file conditional_removal.h.
| void pcl::ConditionalRemoval< PointT >::applyFilter | ( | PointCloud & | output | ) | [inline, protected, virtual] |
Filter a Point Cloud.
| output | the resultant point cloud message |
Implements pcl::Filter< PointT >.
Definition at line 513 of file conditional_removal.hpp.
| bool pcl::ConditionalRemoval< PointT >::getKeepOrganized | ( | ) | [inline] |
Definition at line 426 of file conditional_removal.h.
| void pcl::ConditionalRemoval< PointT >::setCondition | ( | ConditionBasePtr | condition | ) | [inline] |
Set the condition that the filter will use.
| condition | each point must satisfy this condition to avoid being removed by the filter |
All ConditionalRemovals require a condition
Definition at line 505 of file conditional_removal.hpp.
| void pcl::ConditionalRemoval< PointT >::setKeepOrganized | ( | bool | val | ) | [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. By default, points are removed.
| val | set to true whether the filtered points should be kept and set to a given user value (default: NaN) |
Definition at line 424 of file conditional_removal.h.
bool pcl::ConditionalRemoval< PointT >::capable_ [protected] |
True if capable.
Definition at line 446 of file conditional_removal.h.
ConditionBasePtr pcl::ConditionalRemoval< PointT >::condition_ [protected] |
The condition to use for filtering.
Definition at line 454 of file conditional_removal.h.
bool pcl::ConditionalRemoval< PointT >::keep_organized_ [protected] |
Keep the structure of the data organized, by setting the filtered points to the a user given value (NaN by default).
Definition at line 451 of file conditional_removal.h.
