Filter represents the base filter class. More...

#include <pcl/filters/filter.h>

Inheritance diagram for pcl::Filter< PointT >:

Collaboration diagram for pcl::Filter< PointT >:

Public Types
using	Ptr = shared_ptr<Filter<PointT> >
using	ConstPtr = shared_ptr<const Filter<PointT> >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	Filter (bool extract_removed_indices=false)
	Empty constructor.
IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.
void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual void	applyFilter (PointCloud &output)=0
	Abstract filter method.
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
IndicesPtr	removed_indices_
	Indices of the points that are removed.
std::string	filter_name_
	The filter name.
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

template<typename PointT>
class pcl::Filter< PointT >

Filter represents the base filter class.

All filters must inherit from this interface.

Author: Radu B. Rusu

Definition at line 80 of file filter.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT>

using pcl::Filter< PointT >::ConstPtr = shared_ptr<const Filter<PointT> >

Definition at line 84 of file filter.h.

◆ PointCloud

template<typename PointT>

using pcl::Filter< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 87 of file filter.h.

◆ PointCloudConstPtr

template<typename PointT>

using pcl::Filter< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 89 of file filter.h.

◆ PointCloudPtr

template<typename PointT>

using pcl::Filter< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 88 of file filter.h.

◆ Ptr

template<typename PointT>

using pcl::Filter< PointT >::Ptr = shared_ptr<Filter<PointT> >

Definition at line 83 of file filter.h.

Constructor & Destructor Documentation

◆ Filter()

template<typename PointT>

pcl::Filter< PointT >::Filter ( bool extract_removed_indices = false )

inline

Empty constructor.

Parameters

[in] extract_removed_indices set to true if the filtered data indices should be saved in a separate list. Default: false.

Definition at line 95 of file filter.h.

References extract_removed_indices_, and removed_indices_.

Referenced by pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), pcl::ConditionalRemoval< PointT >::ConditionalRemoval(), and pcl::FilterIndices< PointT >::FilterIndices().

Member Function Documentation

◆ applyFilter()

template<typename PointT>

virtual void pcl::Filter< PointT >::applyFilter ( PointCloud & output )

protectedpure virtual

Abstract filter method.

The implementation needs to set output.{points, width, height, is_dense}.

Parameters

[out] output the resultant filtered point cloud

Implemented in pcl::ApproximateVoxelGrid< PointT >, pcl::BilateralFilter< PointT >, pcl::ConditionalRemoval< PointT >, pcl::Convolution< ImageType >, pcl::Convolution< pcl::PointXYZ >, pcl::Convolution< PointInT >, pcl::CovarianceSampling< PointT, PointNT >, pcl::ExtractIndices< PointT >, pcl::FastBilateralFilter< PointT >, pcl::FastBilateralFilterOMP< PointT >, pcl::FilterIndices< PointT >, pcl::GridMinimum< PointT >, pcl::LocalMaximum< PointT >, pcl::MedianFilter< PointT >, pcl::ProjectInliers< PointT >, pcl::SamplingSurfaceNormal< PointT >, pcl::ShadowPoints< PointT, NormalT >, pcl::VoxelGrid< PointT >, pcl::VoxelGridCovariance< PointT >, and pcl::VoxelGridCovariance< PointTarget >.

Referenced by filter().

◆ filter()

template<typename PointT>

void pcl::Filter< 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

Definition at line 121 of file filter.h.

References applyFilter(), pcl::copyPointCloud(), pcl::PCLBase< PointT >::deinitCompute(), pcl::PointCloud< PointT >::header, pcl::PCLBase< PointT >::initCompute(), pcl::PCLBase< PointT >::input_, pcl::PointCloud< PointT >::sensor_orientation_, and pcl::PointCloud< PointT >::sensor_origin_.

Referenced by pcl::LocalMaximum< PointT >::applyFilterIndices(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::CrfSegmentation< PointT >::createVoxelGrid(), pcl::SIFTKeypoint< PointInT, PointOutT >::detectKeypoints(), pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter(), pcl::kinfuLS::WorldModel< PointT >::getExistingData(), pcl::VoxelGridOcclusionEstimation< PointT >::initializeVoxelGrid(), pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud(), pcl::kinfuLS::WorldModel< PointT >::setSliceAsNans(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().

◆ getClassName()

template<typename PointT>

const std::string & pcl::Filter< PointT >::getClassName ( ) const

inlineprotected

Get a string representation of the name of this class.

Definition at line 174 of file filter.h.

References filter_name_.

◆ getRemovedIndices() [1/2]

template<typename PointT>

IndicesConstPtr const pcl::Filter< PointT >::getRemovedIndices ( ) const

inline

Get the point indices being removed.

Definition at line 103 of file filter.h.

References removed_indices_.

Referenced by pcl::kinfuLS::WorldModel< PointT >::setSliceAsNans().

◆ getRemovedIndices() [2/2]

template<typename PointT>

void pcl::Filter< PointT >::getRemovedIndices ( PointIndices & pi )

inline

Get the point indices being removed.

Parameters

[out] pi the resultant point indices that have been removed

Definition at line 112 of file filter.h.

References pcl::PointIndices::indices, and removed_indices_.

Member Data Documentation

◆ extract_removed_indices_

template<typename PointT>

bool pcl::Filter< PointT >::extract_removed_indices_

protected

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

Definition at line 161 of file filter.h.

◆ filter_name_

template<typename PointT>

std::string pcl::Filter< PointT >::filter_name_

protected

The filter name.

Definition at line 158 of file filter.h.

Referenced by pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), pcl::ConditionalRemoval< PointT >::ConditionalRemoval(), pcl::CovarianceSampling< PointT, PointNT >::CovarianceSampling(), pcl::CropBox< PointT >::CropBox(), pcl::CropHull< PointT >::CropHull(), pcl::ExtractIndices< PointT >::ExtractIndices(), pcl::FarthestPointSampling< PointT >::FarthestPointSampling(), pcl::FrustumCulling< PointT >::FrustumCulling(), pcl::experimental::advanced::FunctorFilter< PointT, FilterFunction< PointT > >::FunctorFilter(), pcl::experimental::advanced::FunctorFilter< PointT, FilterFunction< PointT > >::FunctorFilter(), getClassName(), pcl::GridMinimum< PointT >::GridMinimum(), pcl::LocalMaximum< PointT >::LocalMaximum(), pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), pcl::NormalSpaceSampling< PointT, NormalT >::NormalSpaceSampling(), pcl::PassThrough< PointT >::PassThrough(), pcl::ProjectInliers< PointT >::ProjectInliers(), pcl::RadiusOutlierRemoval< PointT >::RadiusOutlierRemoval(), pcl::RandomSample< PointT >::RandomSample(), pcl::SamplingSurfaceNormal< PointT >::SamplingSurfaceNormal(), pcl::ShadowPoints< PointT, NormalT >::ShadowPoints(), pcl::StatisticalOutlierRemoval< PointT >::StatisticalOutlierRemoval(), pcl::UniformSampling< PointT >::UniformSampling(), pcl::VoxelGrid< PointT >::VoxelGrid(), and pcl::VoxelGridCovariance< PointTarget >::VoxelGridCovariance().

◆ removed_indices_

template<typename PointT>

IndicesPtr pcl::Filter< PointT >::removed_indices_

protected

Indices of the points that are removed.

Definition at line 155 of file filter.h.

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

pcl/filters/filter.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Filter()

Member Function Documentation

◆ applyFilter()

◆ filter()

◆ getClassName()

◆ getRemovedIndices() [1/2]

◆ getRemovedIndices() [2/2]

Member Data Documentation

◆ extract_removed_indices_

◆ filter_name_

◆ removed_indices_