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| PassThrough (bool extract_removed_indices=false) |
| Constructor.
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void | setFilterFieldName (const std::string &field_name) |
| Provide the name of the field to be used for filtering data.
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std::string const | getFilterFieldName () const |
| Retrieve the name of the field to be used for filtering data.
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void | setFilterLimits (const float &limit_min, const float &limit_max) |
| Set the numerical limits for the field for filtering data.
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void | getFilterLimits (float &limit_min, float &limit_max) const |
| Get the numerical limits for the field for filtering data.
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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.
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void | getFilterLimitsNegative (bool &limit_negative) const |
| Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
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bool | getFilterLimitsNegative () const |
| Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
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| FilterIndices (bool extract_removed_indices=false) |
| Constructor.
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void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices.
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void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions.
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bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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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.
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bool | getKeepOrganized () const |
| 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.
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void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them.
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| Filter (bool extract_removed_indices=false) |
| Empty constructor.
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IndicesConstPtr const | getRemovedIndices () const |
| Get the point indices being removed.
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void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed.
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void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output.
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| PCLBase () |
| Empty constructor.
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| PCLBase (const PCLBase &base) |
| Copy constructor.
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virtual | ~PCLBase ()=default |
| Destructor.
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset.
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset.
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud.
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IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used.
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used.
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const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code.
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void | applyFilter (Indices &indices) override |
| Filtered results are indexed by an indices array.
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void | applyFilterIndices (Indices &indices) |
| Filtered results are indexed by an indices array.
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virtual void | applyFilter (Indices &indices)=0 |
| Abstract filter method for point cloud indices.
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void | applyFilter (PointCloud &output) override |
| Abstract filter method for point cloud.
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virtual void | applyFilter (PointCloud &output)=0 |
| Abstract filter method.
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const std::string & | getClassName () const |
| Get a string representation of the name of this class.
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bool | initCompute () |
| This method should get called before starting the actual computation.
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bool | deinitCompute () |
| This method should get called after finishing the actual computation.
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template<typename
PointT>
class pcl::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:
ptfilter.setInputCloud (cloud_in);
ptfilter.setFilterFieldName ("x");
ptfilter.setFilterLimits (0.0, 1000.0);
ptfilter.filter (*indices_x);
indices_rem = ptfilter.getRemovedIndices ();
ptfilter.setIndices (indices_x);
ptfilter.setFilterFieldName ("z");
ptfilter.setFilterLimits (-10.0, 10.0);
ptfilter.setNegative (true);
ptfilter.filter (*indices_xz);
ptfilter.setIndices (indices_xz);
ptfilter.setFilterFieldName ("intensity");
ptfilter.setFilterLimits (FLT_MIN, 0.5);
ptfilter.setNegative (false);
ptfilter.filter (*cloud_out);
PassThrough passes points in a cloud based on constraints for one particular field of the point type.
- Author
- Radu Bogdan Rusu
Definition at line 81 of file passthrough.h.