ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud. More...

#include <pcl/filters/project_inliers.h>

Inheritance diagram for pcl::ProjectInliers< pcl::PCLPointCloud2 >:

Collaboration diagram for pcl::ProjectInliers< pcl::PCLPointCloud2 >:

Public Types
using	Ptr
using	ConstPtr
Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
using	Ptr = shared_ptr<Filter<pcl::PCLPointCloud2> >
using	ConstPtr = shared_ptr<const Filter<pcl::PCLPointCloud2> >
using	PCLPointCloud2 = pcl::PCLPointCloud2
using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr
using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2
using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr
using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr

Public Member Functions
	ProjectInliers ()
	Empty constructor.
	~ProjectInliers () override=default
	Empty destructor.
void	setModelType (int model)
	The type of model to use (user given parameter).
int	getModelType () const
	Get the type of SAC model used.
void	setModelCoefficients (const ModelCoefficientsConstPtr &model)
	Provide a pointer to the model coefficients.
ModelCoefficientsConstPtr	getModelCoefficients () const
	Get a pointer to the model coefficients.
void	setCopyAllFields (bool val)
	Set whether all fields should be copied, or only the XYZ.
bool	getCopyAllFields () const
	Get whether all fields are being copied (true), or only XYZ (false).
void	setCopyAllData (bool val)
	Set whether all data will be returned, or only the projected inliers.
bool	getCopyAllData () const
	Get whether all data is being copied (true), or only the projected inliers (false).
Public Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
	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 (PCLPointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.
Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
	PCLBase ()
	Empty constructor.
virtual	~PCLBase ()=default
	destructor.
void	setInputCloud (const PCLPointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PCLPointCloud2ConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
IndicesPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const pcl::PCLPointCloud2 &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	applyFilter (PCLPointCloud2 &output) override
	Abstract filter method.
Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool	initCompute ()
bool	deinitCompute ()

Protected Attributes
int	model_type_ {0}
	The type of model to use (user given parameter).
bool	copy_all_data_ {false}
	True if all data will be returned, false if only the projected inliers.
bool	copy_all_fields_ {true}
	True if all fields will be returned, false if only XYZ.
ModelCoefficientsConstPtr	model_
	A pointer to the vector of model coefficients.
Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr	removed_indices_
	Indices of the points that are removed.
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
std::string	filter_name_
	The filter name.
Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr	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.
std::vector< uindex_t >	field_sizes_
	The size of each individual field.
index_t	x_idx_
	The x-y-z fields indices.
index_t	y_idx_
index_t	z_idx_
std::string	x_field_name_
	The desired x-y-z field names.
std::string	y_field_name_
std::string	z_field_name_

Detailed Description

ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud.

Author: Radu Bogdan Rusu

Definition at line 164 of file project_inliers.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::ProjectInliers< pcl::PCLPointCloud2 >::ConstPtr

Definition at line 70 of file project_inliers.h.

◆ Ptr

using pcl::ProjectInliers< pcl::PCLPointCloud2 >::Ptr

Definition at line 69 of file project_inliers.h.

Constructor & Destructor Documentation

◆ ProjectInliers()

pcl::ProjectInliers< pcl::PCLPointCloud2 >::ProjectInliers ( )

inline

Empty constructor.

Definition at line 177 of file project_inliers.h.

References pcl::Filter< pcl::PCLPointCloud2 >::filter_name_.

◆ ~ProjectInliers()

pcl::ProjectInliers< pcl::PCLPointCloud2 >::~ProjectInliers ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ applyFilter()

void pcl::ProjectInliers< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 & output )

overrideprotectedvirtual

Abstract filter method.

The implementation needs to set output.{data, row_step, point_step, width, height, is_dense}.

Parameters

[out] output the resultant filtered point cloud

Implements pcl::Filter< pcl::PCLPointCloud2 >.

◆ getCopyAllData()

bool pcl::ProjectInliers< pcl::PCLPointCloud2 >::getCopyAllData ( ) const

inline

Get whether all data is being copied (true), or only the projected inliers (false).

Definition at line 244 of file project_inliers.h.

References copy_all_data_.

◆ getCopyAllFields()

bool pcl::ProjectInliers< pcl::PCLPointCloud2 >::getCopyAllFields ( ) const

inline

Get whether all fields are being copied (true), or only XYZ (false).

Definition at line 228 of file project_inliers.h.

References copy_all_fields_.

◆ getModelCoefficients()

ModelCoefficientsConstPtr pcl::ProjectInliers< pcl::PCLPointCloud2 >::getModelCoefficients ( ) const

inline

Get a pointer to the model coefficients.

Definition at line 212 of file project_inliers.h.

References model_.

◆ getModelType()

int pcl::ProjectInliers< pcl::PCLPointCloud2 >::getModelType ( ) const

inline

Get the type of SAC model used.

Definition at line 196 of file project_inliers.h.

References model_type_.

◆ setCopyAllData()

void pcl::ProjectInliers< pcl::PCLPointCloud2 >::setCopyAllData ( bool val )

inline

Set whether all data will be returned, or only the projected inliers.

Parameters

[in] val true if all data should be returned, false if only the projected inliers

Definition at line 237 of file project_inliers.h.

References copy_all_data_.

◆ setCopyAllFields()

void pcl::ProjectInliers< pcl::PCLPointCloud2 >::setCopyAllFields ( bool val )

inline

Set whether all fields should be copied, or only the XYZ.

Parameters

[in] val true if all fields will be returned, false if only XYZ

Definition at line 221 of file project_inliers.h.

References copy_all_fields_.

◆ setModelCoefficients()

void pcl::ProjectInliers< pcl::PCLPointCloud2 >::setModelCoefficients ( const ModelCoefficientsConstPtr & model )

inline

Provide a pointer to the model coefficients.

Parameters

[in] model a pointer to the model coefficients

Definition at line 205 of file project_inliers.h.

References model_.

◆ setModelType()

void pcl::ProjectInliers< pcl::PCLPointCloud2 >::setModelType ( int model )

inline

The type of model to use (user given parameter).

Parameters

[in] model the model type (check model_types.h)

Definition at line 189 of file project_inliers.h.

References model_type_.

Member Data Documentation

◆ copy_all_data_

bool pcl::ProjectInliers< pcl::PCLPointCloud2 >::copy_all_data_ {false}

protected

True if all data will be returned, false if only the projected inliers.

Default: false.

Definition at line 253 of file project_inliers.h.

Referenced by getCopyAllData(), and setCopyAllData().

◆ copy_all_fields_

bool pcl::ProjectInliers< pcl::PCLPointCloud2 >::copy_all_fields_ {true}

protected

True if all fields will be returned, false if only XYZ.

Default: true.

Definition at line 256 of file project_inliers.h.

Referenced by getCopyAllFields(), and setCopyAllFields().

◆ model_

ModelCoefficientsConstPtr pcl::ProjectInliers< pcl::PCLPointCloud2 >::model_

protected

A pointer to the vector of model coefficients.

Definition at line 259 of file project_inliers.h.

Referenced by getModelCoefficients(), and setModelCoefficients().

◆ model_type_

int pcl::ProjectInliers< pcl::PCLPointCloud2 >::model_type_ {0}

protected

The type of model to use (user given parameter).

Definition at line 250 of file project_inliers.h.

Referenced by getModelType(), and setModelType().

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

pcl/filters/project_inliers.h
pcl/filters/impl/project_inliers.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ProjectInliers()

◆ ~ProjectInliers()

Member Function Documentation

◆ applyFilter()

◆ getCopyAllData()

◆ getCopyAllFields()

◆ getModelCoefficients()

◆ getModelType()

◆ setCopyAllData()

◆ setCopyAllFields()

◆ setModelCoefficients()

◆ setModelType()

Member Data Documentation

◆ copy_all_data_

◆ copy_all_fields_

◆ model_

◆ model_type_