PassThrough passes points in a cloud based on constraints for one particular field of the point type. More...

#include <Passthrough.h>

Public Types
typedef boost::shared_ptr < const PassThrough< PointT > >	ConstPtr
typedef boost::shared_ptr < PassThrough< PointT > >	Ptr
Public Member Functions
std::string const	getFilterFieldName ()
	Retrieve the name of the field to be used for filtering data.
void	getFilterLimits (float &limit_min, float &limit_max)
	Get the numerical limits for the field for filtering data.
void	getFilterLimitsNegative (bool &limit_negative)
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
bool	getFilterLimitsNegative ()
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
	PassThrough (bool extract_removed_indices=false)
	Constructor.
void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data.
void	setFilterLimits (const float &limit_min, const float &limit_max)
	Set the numerical limits for the field for filtering data.
void	setFilterLimitsNegative (const bool limit_negative)
	Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max) Default: false.
void	setLabels (const std::vector< uint32_t > &labels)
Protected Types
typedef pcl::traits::fieldList < PointT >::type	FieldList
typedef pcl::FilterIndices < PointT >::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Protected Member Functions
void	applyFilter (PointCloud &output)
	Filtered results are stored in a separate point cloud.
void	applyFilter (std::vector< int > &indices)
	Filtered results are indexed by an indices array.
void	applyFilterIndices (std::vector< int > &indices)
	Filtered results are indexed by an indices array.
Private Attributes
std::string	filter_field_name_
	The name of the field that will be used for filtering.
float	filter_limit_max_
	The maximum allowed field value (default = FLT_MIN).
float	filter_limit_min_
	The minimum allowed field value (default = FLT_MIN).
std::vector< uint32_t >	labels_

Detailed Description

template<typename PointT>
class shape_reconstruction::PassThrough< PointT >

PassThrough passes points in a cloud based on constraints for one particular field of the point type.

Iterates through the entire input once, automatically filtering non-finite points and the points outside the interval specified by setFilterLimits(), which applies only to the field specified by setFilterFieldName().

Usage example:

 pcl::PassThrough<PointType> ptfilter (true); // Initializing with true will allow us to extract the removed indices
 ptfilter.setInputCloud (cloud_in);
 ptfilter.setFilterFieldName ("x");
 ptfilter.setFilterLimits (0.0, 1000.0);
 ptfilter.filter (*indices_x);
 // The indices_x array indexes all points of cloud_in that have x between 0.0 and 1000.0
 indices_rem = ptfilter.getRemovedIndices ();
 // The indices_rem array indexes all points of cloud_in that have x smaller than 0.0 or larger than 1000.0
 // and also indexes all non-finite points of cloud_in
 ptfilter.setIndices (indices_x);
 ptfilter.setFilterFieldName ("z");
 ptfilter.setFilterLimits (-10.0, 10.0);
 ptfilter.setNegative (true);
 ptfilter.filter (*indices_xz);
 // The indices_xz array indexes all points of cloud_in that have x between 0.0 and 1000.0 and z larger than 10.0 or smaller than -10.0
 ptfilter.setIndices (indices_xz);
 ptfilter.setFilterFieldName ("intensity");
 ptfilter.setFilterLimits (FLT_MIN, 0.5);
 ptfilter.setNegative (false);
 ptfilter.filter (*cloud_out);
 // The resulting cloud_out contains all points of cloud_in that are finite and have:
 // x between 0.0 and 1000.0, z larger than 10.0 or smaller than -10.0 and intensity smaller than 0.5.

Author:: Radu Bogdan Rusu

Definition at line 124 of file Passthrough.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const PassThrough<PointT> > shape_reconstruction::PassThrough< PointT >::ConstPtr

Definition at line 135 of file Passthrough.h.

template<typename PointT>

typedef pcl::traits::fieldList<PointT>::type shape_reconstruction::PassThrough< PointT >::FieldList [protected]

Definition at line 130 of file Passthrough.h.

template<typename PointT>

typedef pcl::FilterIndices<PointT>::PointCloud shape_reconstruction::PassThrough< PointT >::PointCloud [protected]

Definition at line 127 of file Passthrough.h.

template<typename PointT>

typedef PointCloud::ConstPtr shape_reconstruction::PassThrough< PointT >::PointCloudConstPtr [protected]

Definition at line 129 of file Passthrough.h.

template<typename PointT>

typedef PointCloud::Ptr shape_reconstruction::PassThrough< PointT >::PointCloudPtr [protected]

Definition at line 128 of file Passthrough.h.

template<typename PointT>

typedef boost::shared_ptr< PassThrough<PointT> > shape_reconstruction::PassThrough< PointT >::Ptr

Definition at line 134 of file Passthrough.h.

Constructor & Destructor Documentation

template<typename PointT>

shape_reconstruction::PassThrough< PointT >::PassThrough ( bool extract_removed_indices = false ) [inline]

Constructor.

Parameters:

[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).

Definition at line 141 of file Passthrough.h.

Member Function Documentation

template<typename PointT >

void shape_reconstruction::PassThrough< PointT >::applyFilter ( PointCloud & output ) [protected]

Filtered results are stored in a separate point cloud.

Parameters:

[out] output The resultant point cloud.

Definition at line 96 of file Passthrough.hpp.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::applyFilter ( std::vector< int > & indices ) [inline, protected]

Filtered results are indexed by an indices array.

Parameters:

[out] indices The resultant indices.

Definition at line 250 of file Passthrough.h.

template<typename PointT >

void shape_reconstruction::PassThrough< PointT >::applyFilterIndices ( std::vector< int > & indices ) [protected]

Filtered results are indexed by an indices array.

Parameters:

[out] indices The resultant indices.

Definition at line 122 of file Passthrough.hpp.

template<typename PointT>

std::string const shape_reconstruction::PassThrough< PointT >::getFilterFieldName ( ) [inline]

Retrieve the name of the field to be used for filtering data.

Returns:: The name of the field that will be used for filtering.

Definition at line 164 of file Passthrough.h.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::getFilterLimits	(	float &	limit_min,
		float &	limit_max
	)		`[inline]`

Get the numerical limits for the field for filtering data.

Parameters:

[out]	limit_min	The minimum allowed field value (default = FLT_MIN).
[out]	limit_max	The maximum allowed field value (default = FLT_MAX).

Definition at line 186 of file Passthrough.h.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::getFilterLimitsNegative ( bool & limit_negative ) [inline]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Warning:: This method will be removed in the future. Use getNegative() instead.

Parameters:

[out] limit_negative true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 208 of file Passthrough.h.

template<typename PointT>

bool shape_reconstruction::PassThrough< PointT >::getFilterLimitsNegative ( ) [inline]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Warning:: This method will be removed in the future. Use getNegative() instead.

Returns:: true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 218 of file Passthrough.h.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::setFilterFieldName ( const std::string & field_name ) [inline]

Provide the name of the field to be used for filtering data.

In conjunction with setFilterLimits(), points having values outside this interval for this field will be discarded.

Parameters:

[in] field_name The name of the field that will be used for filtering.

Definition at line 155 of file Passthrough.h.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::setFilterLimits	(	const float &	limit_min,
		const float &	limit_max
	)		`[inline]`

Set the numerical limits for the field for filtering data.

In conjunction with setFilterFieldName(), points having values outside this interval for this field will be discarded.

Parameters:

[in]	limit_min	The minimum allowed field value (default = FLT_MIN).
[in]	limit_max	The maximum allowed field value (default = FLT_MAX).

Definition at line 175 of file Passthrough.h.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::setFilterLimitsNegative ( const bool limit_negative ) [inline]

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max) Default: false.

Warning:: This method will be removed in the future. Use setNegative() instead.

Parameters:

[in] limit_negative return data inside the interval (false) or outside (true)

Definition at line 198 of file Passthrough.h.

template<typename PointT>

void shape_reconstruction::PassThrough< PointT >::setLabels ( const std::vector< uint32_t > & labels ) [inline]

Definition at line 224 of file Passthrough.h.

Member Data Documentation

template<typename PointT>

std::string shape_reconstruction::PassThrough< PointT >::filter_field_name_ [private]

The name of the field that will be used for filtering.

Definition at line 263 of file Passthrough.h.

template<typename PointT>

float shape_reconstruction::PassThrough< PointT >::filter_limit_max_ [private]

The maximum allowed field value (default = FLT_MIN).

Definition at line 269 of file Passthrough.h.

template<typename PointT>

float shape_reconstruction::PassThrough< PointT >::filter_limit_min_ [private]

The minimum allowed field value (default = FLT_MIN).

Definition at line 266 of file Passthrough.h.

template<typename PointT>

std::vector<uint32_t> shape_reconstruction::PassThrough< PointT >::labels_ [private]

Definition at line 271 of file Passthrough.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Private Attributes

Detailed Description

template<typename PointT> class shape_reconstruction::PassThrough< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class shape_reconstruction::PassThrough< PointT >