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< sensor_msgs::PointCloud2 >:

[legend]

List of all members.

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
Public Member Functions
virtual void	filter (PointCloud2 &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<>
class pcl::FilterIndices< sensor_msgs::PointCloud2 >

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 204 of file filter_indices.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl::FilterIndices< sensor_msgs::PointCloud2 >::PointCloud2

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Reimplemented in pcl::CropBox< sensor_msgs::PointCloud2 >, pcl::ExtractIndices< sensor_msgs::PointCloud2 >, and pcl::RandomSample< sensor_msgs::PointCloud2 >.

Definition at line 207 of file filter_indices.h.

Constructor & Destructor Documentation

pcl::FilterIndices< sensor_msgs::PointCloud2 >::FilterIndices ( bool extract_removed_indices = false ) [inline]

Constructor.

Parameters:

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

Definition at line 212 of file filter_indices.h.

virtual pcl::FilterIndices< sensor_msgs::PointCloud2 >::~FilterIndices ( ) [inline, virtual]

Empty virtual destructor.

Definition at line 223 of file filter_indices.h.

Member Function Documentation

virtual void pcl::FilterIndices< sensor_msgs::PointCloud2 >::applyFilter ( std::vector< int > & indices ) [protected, pure virtual]

Abstract filter method for point cloud indices.

Implemented in pcl::CropBox< sensor_msgs::PointCloud2 >, pcl::RandomSample< sensor_msgs::PointCloud2 >, and pcl::ExtractIndices< sensor_msgs::PointCloud2 >.

virtual void pcl::FilterIndices< sensor_msgs::PointCloud2 >::filter ( PointCloud2 & output ) [inline, virtual]

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

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out]	output	the resultant filtered point cloud dataset
	output	the resultant filtered point cloud dataset

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 228 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::filter ( std::vector< int > & indices )

Calls the filtering method and returns the filtered point cloud indices.

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out]	indices	the resultant filtered point cloud indices
	output	the resultant filtered point cloud dataset

Definition at line 50 of file filter_indices.cpp.

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::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 272 of file filter_indices.h.

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::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 252 of file filter_indices.h.

IndicesConstPtr const pcl::FilterIndices< sensor_msgs::PointCloud2 >::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< sensor_msgs::PointCloud2 >.

Definition at line 291 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::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 262 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::setNegative ( bool negative ) [inline]

Set whether the regular conditions for points filtering should apply, or the inverted conditions.

Parameters:

[in] negative false = normal filter behavior (default), true = inverted behavior.

Definition at line 243 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::setUserFilterValue ( float value ) [inline]

Provide a value that the filtered points should be set to instead of removing them. Used in conjunction with setKeepOrganized ().

Parameters:

[in] value the user given value that the filtered point dimensions should be set to (default = NaN).

Definition at line 282 of file filter_indices.h.

Member Data Documentation

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::extract_removed_indices_ [protected]

Set to true if we want to return the indices of the removed points.

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 304 of file filter_indices.h.

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::keep_organized_ [protected]

False = remove points (default), true = redefine points, keep structure.

Definition at line 301 of file filter_indices.h.

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::negative_ [protected]

False = normal filter behavior (default), true = inverted behavior.

Definition at line 298 of file filter_indices.h.

IndicesPtr pcl::FilterIndices< sensor_msgs::PointCloud2 >::removed_indices_ [protected]

Indices of the points that are removed.

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 310 of file filter_indices.h.

float pcl::FilterIndices< sensor_msgs::PointCloud2 >::user_filter_value_ [protected]

The user given value that the filtered point dimensions should be set to (default = NaN).

Definition at line 307 of file filter_indices.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<> class pcl::FilterIndices< sensor_msgs::PointCloud2 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<>
class pcl::FilterIndices< sensor_msgs::PointCloud2 >