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). More...

#include <filter_indices.h>

Inheritance diagram for pcl::FilterIndices< PointT >:

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List of all members.

Public Types
typedef pcl::PointCloud< PointT >	PointCloud
Public Member Functions
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.
	FilterIndices (bool extract_removed_indices=false)
	Constructor.
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.
bool	getNegative ()
	Get whether the regular conditions for points filtering should apply, or the inverted conditions.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
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.
void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions.
void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with setKeepOrganized ().
virtual	~FilterIndices ()
	Empty virtual destructor.
Protected Member Functions
virtual void	applyFilter (std::vector< int > &indices)=0
	Abstract filter method for point cloud indices.
Protected Attributes
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
bool	keep_organized_
	False = remove points (default), true = redefine points, keep structure.
bool	negative_
	False = normal filter behavior (default), true = inverted behavior.
IndicesPtr	removed_indices_
	Indices of the points that are removed.
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 pcl::PointCloud<PointT> pcl::FilterIndices< PointT >::PointCloud

Reimplemented from pcl::Filter< PointT >.

Reimplemented in pcl::StatisticalOutlierRemoval< PointT >, pcl::PassThrough< PointT >, pcl::PassThrough< PointInT >, pcl::PassThrough< pcl::PointXYZRGBA >, pcl::PassThrough< PointXYZRGBA >, pcl::PassThrough< PointType >, pcl::RadiusOutlierRemoval< PointT >, pcl::ExtractIndices< PointT >, pcl::ExtractIndices< PointType >, pcl::CropBox< PointT >, pcl::RandomSample< PointT >, pcl::NormalSpaceSampling< PointT, NormalT >, and pcl::CropHull< PointT >.

Definition at line 71 of file filter_indices.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::FilterIndices< PointT >::FilterIndices ( 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 76 of file filter_indices.h.

template<typename PointT>

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

Empty virtual destructor.

Definition at line 87 of file filter_indices.h.

Member Function Documentation

template<typename PointT>

virtual void pcl::FilterIndices< PointT >::applyFilter ( std::vector< int > & indices ) [protected, pure virtual]

Abstract filter method for point cloud indices.

Implemented in pcl::PassThrough< PointT >, pcl::PassThrough< PointInT >, pcl::PassThrough< pcl::PointXYZRGBA >, pcl::PassThrough< PointXYZRGBA >, pcl::PassThrough< PointType >, pcl::CropBox< PointT >, pcl::NormalSpaceSampling< PointT, NormalT >, pcl::StatisticalOutlierRemoval< PointT >, pcl::RadiusOutlierRemoval< PointT >, pcl::CropHull< PointT >, pcl::RandomSample< PointT >, pcl::ExtractIndices< PointT >, and pcl::ExtractIndices< PointType >.

template<typename PointT>

void pcl::FilterIndices< PointT >::filter ( PointCloud & output ) [inline]

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

Parameters:

[out] output the resultant filtered point cloud dataset

Reimplemented from pcl::Filter< PointT >.

Definition at line 92 of file filter_indices.h.

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] indices the resultant filtered point cloud indices

Definition at line 101 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 145 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 125 of file filter_indices.h.

template<typename PointT>

IndicesConstPtr const pcl::FilterIndices< PointT >::getRemovedIndices ( ) [inline]

Get the point indices being removed.

Returns:: The value of the internal negative_ parameter; false = normal filter behavior (default), true = inverted behavior.

Reimplemented from pcl::Filter< PointT >.

Definition at line 164 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_organized false = remove points (default), true = redefine points, keep structure.

Definition at line 135 of file filter_indices.h.

template<typename PointT>

void pcl::FilterIndices< PointT >::setNegative ( bool negative ) [inline]