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 (int extract_removed_indices=false) | |
| the default constructor. | |
| ConditionalRemoval (ConditionBasePtr condition, bool extract_removed_indices=false) | |
| a constructor that includes the condition. | |
| bool | getKeepOrganized () const |
| 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. | |
| void | setUserFilterValue (float val) |
| Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with setKeepOrganized (). | |
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). | |
| float | user_filter_value_ |
| User given value to be set to any filtered point. Casted to the correct field type. | |
Private Types | |
| typedef Filter< PointT > ::PointCloud | PointCloud |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointCloud::Ptr | PointCloudPtr |
Detailed Description
template<typename PointT>
class pcl::ConditionalRemoval< PointT >
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 575 of file conditional_removal.h.
Member Typedef Documentation
| typedef pcl::ConditionBase<PointT> pcl::ConditionalRemoval< PointT >::ConditionBase |
Definition at line 589 of file conditional_removal.h.
| typedef ConditionBase::ConstPtr pcl::ConditionalRemoval< PointT >::ConditionBaseConstPtr |
Definition at line 591 of file conditional_removal.h.
| typedef ConditionBase::Ptr pcl::ConditionalRemoval< PointT >::ConditionBasePtr |
Definition at line 590 of file conditional_removal.h.
typedef pcl::traits::fieldList<PointT>::type pcl::ConditionalRemoval< PointT >::FieldList [protected] |
Definition at line 666 of file conditional_removal.h.
typedef Filter<PointT>::PointCloud pcl::ConditionalRemoval< PointT >::PointCloud [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 584 of file conditional_removal.h.
typedef PointCloud::ConstPtr pcl::ConditionalRemoval< PointT >::PointCloudConstPtr [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 586 of file conditional_removal.h.
typedef PointCloud::Ptr pcl::ConditionalRemoval< PointT >::PointCloudPtr [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 585 of file conditional_removal.h.
Constructor & Destructor Documentation
| pcl::ConditionalRemoval< PointT >::ConditionalRemoval | ( | int | extract_removed_indices = false | ) | [inline] |
the default constructor.
All ConditionalRemovals require a condition which can be set using the setCondition method
- Parameters:
-
extract_removed_indices extract filtered indices from indices vector
Definition at line 599 of file conditional_removal.h.
| pcl::ConditionalRemoval< PointT >::ConditionalRemoval | ( | ConditionBasePtr | condition, |
| bool | extract_removed_indices = false |
||
| ) | [inline] |
a constructor that includes the condition.
- Parameters:
-
condition the condition that each point must satisfy to avoid being removed by the filter extract_removed_indices extract filtered indices from indices vector
Definition at line 611 of file conditional_removal.h.
Member Function Documentation
| void pcl::ConditionalRemoval< PointT >::applyFilter | ( | PointCloud & | output | ) | [protected, virtual] |
Filter a Point Cloud.
- Parameters:
-
output the resultant point cloud message
Implements pcl::Filter< PointT >.
Definition at line 671 of file conditional_removal.hpp.
| bool pcl::ConditionalRemoval< PointT >::getKeepOrganized | ( | ) | const [inline] |
Definition at line 634 of file conditional_removal.h.
| void pcl::ConditionalRemoval< PointT >::setCondition | ( | ConditionBasePtr | condition | ) |
Set the condition that the filter will use.
- Parameters:
-
condition each point must satisfy this condition to avoid being removed by the filter
All ConditionalRemovals require a condition
Definition at line 663 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.
- Parameters:
-
val set to true whether the filtered points should be kept and set to a given user value (default: NaN)
Definition at line 628 of file conditional_removal.h.
| void pcl::ConditionalRemoval< PointT >::setUserFilterValue | ( | float | val | ) | [inline] |
Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with setKeepOrganized ().
- Parameters:
-
val the user given value that the filtered point dimensions should be set to
Definition at line 645 of file conditional_removal.h.
Member Data Documentation
bool pcl::ConditionalRemoval< PointT >::capable_ [protected] |
True if capable.
Definition at line 669 of file conditional_removal.h.
ConditionBasePtr pcl::ConditionalRemoval< PointT >::condition_ [protected] |
The condition to use for filtering.
Definition at line 677 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 674 of file conditional_removal.h.
float pcl::ConditionalRemoval< PointT >::user_filter_value_ [protected] |
User given value to be set to any filtered point. Casted to the correct field type.
Definition at line 682 of file conditional_removal.h.
The documentation for this class was generated from the following files: