Point Cloud Library (PCL)
1.3.1
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ConditionalRemoval filters data that satisfies certain conditions. More...
#include <pcl/filters/conditional_removal.h>
Public Types | |
typedef pcl::ConditionBase < PointT > | ConditionBase |
typedef ConditionBase::Ptr | ConditionBasePtr |
typedef ConditionBase::ConstPtr | ConditionBaseConstPtr |
typedef boost::shared_ptr < Filter< PointT > > | Ptr |
typedef boost::shared_ptr < const Filter< PointT > > | ConstPtr |
Public Member Functions | |
ConditionalRemoval (int extract_removed_indices=false) | |
the default constructor. | |
ConditionalRemoval (ConditionBasePtr condition, bool extract_removed_indices=false) | |
a constructor that includes the condition. | |
void | setKeepOrganized (bool val) |
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. | |
bool | getKeepOrganized () |
void | setUserFilterValue (float val) |
Provide a value that the filtered points should be set to instead of removing them. | |
void | setCondition (ConditionBasePtr condition) |
Set the condition that the filter will use. | |
IndicesConstPtr const | getRemovedIndices () |
Get the point indices being removed. | |
void | setFilterFieldName (const std::string &field_name) |
Provide the name of the field to be used for filtering data. | |
std::string const | getFilterFieldName () |
Get the name of the field used for filtering. | |
void | setFilterLimits (const double &limit_min, const double &limit_max) |
Set the field filter limits. | |
void | getFilterLimits (double &limit_min, double &limit_max) |
Get the field filter limits (min/max) set by the user. | |
void | setFilterLimitsNegative (const bool limit_negative) |
Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). | |
void | getFilterLimitsNegative (bool &limit_negative) |
Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). | |
bool | getFilterLimitsNegative () |
void | filter (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. |
ConditionalRemoval filters data that satisfies certain conditions.
A ConditionalRemoval must be provided a condition. There are two types of conditions: ConditionAnd and ConditionOr. Conditions require one or more comparisons and/or other conditions. A comparison has a name, a comparison operator, and a value.
An ConditionAnd will evaluate to true when ALL of its encapsulated comparisons and conditions are true.
An ConditionOr will evaluate to true when ANY of its encapsulated comparisons and conditions are true.
Depending on the derived type of the comparison, the name can correspond to a PointCloud field name, or a color component in rgb color space or hsi color space.
Here is an example usage: // Build the condition pcl::ConditionAnd<PointT>::Ptr range_cond (new pcl::ConditionAnd<PointT> ()); range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::LT, 2.0))); range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::GT, 0.0))); // Build the filter pcl::ConditionalRemoval<PointT> range_filt; range_filt.setCondition (range_cond); range_filt.setKeepOrganized (false);
typedef pcl::ConditionBase<PointT> pcl::ConditionalRemoval::ConditionBase |
Definition at line 420 of file conditional_removal.h.
Definition at line 422 of file conditional_removal.h.
Definition at line 421 of file conditional_removal.h.
typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter::ConstPtr [inherited] |
typedef boost::shared_ptr< Filter<PointT> > pcl::Filter::Ptr [inherited] |
pcl::ConditionalRemoval::ConditionalRemoval | ( | int | extract_removed_indices = false | ) | [inline] |
the default constructor.
All ConditionalRemovals require a condition which can be set using the setCondition method
extract_removed_indices | extract filtered indices from indices vector |
Definition at line 430 of file conditional_removal.h.
pcl::ConditionalRemoval::ConditionalRemoval | ( | ConditionBasePtr | condition, |
bool | extract_removed_indices = false |
||
) | [inline] |
a constructor that includes the condition.
condition | the condition that each point must satisfy to avoid being removed by the filter |
extract_removed_indices | extract filtered indices from indices vector |
Definition at line 442 of file conditional_removal.h.
void pcl::Filter::filter | ( | PointCloud & | output | ) | [inline, inherited] |
Calls the filtering method and returns the filtered dataset in output.
output | the resultant filtered point cloud dataset |
Reimplemented in pcl::FilterIndices.
std::string const pcl::Filter::getFilterFieldName | ( | ) | [inline, inherited] |
void pcl::Filter::getFilterLimits | ( | double & | limit_min, |
double & | limit_max | ||
) | [inline, inherited] |
void pcl::Filter::getFilterLimitsNegative | ( | bool & | limit_negative | ) | [inline, inherited] |
bool pcl::Filter::getFilterLimitsNegative | ( | ) | [inline, inherited] |
bool pcl::ConditionalRemoval::getKeepOrganized | ( | ) | [inline] |
Definition at line 465 of file conditional_removal.h.
IndicesConstPtr const pcl::Filter::getRemovedIndices | ( | ) | [inline, inherited] |
void pcl::ConditionalRemoval::setCondition | ( | ConditionBasePtr | condition | ) |
Set the condition that the filter will use.
condition | each point must satisfy this condition to avoid being removed by the filter |
All ConditionalRemovals require a condition
Definition at line 507 of file conditional_removal.hpp.
void pcl::Filter::setFilterFieldName | ( | const std::string & | field_name | ) | [inline, inherited] |
void pcl::Filter::setFilterLimits | ( | const double & | limit_min, |
const double & | limit_max | ||
) | [inline, inherited] |
void pcl::Filter::setFilterLimitsNegative | ( | const bool | limit_negative | ) | [inline, inherited] |
void pcl::ConditionalRemoval::setKeepOrganized | ( | bool | val | ) | [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.
By default, points are removed.
val | set to true whether the filtered points should be kept and set to a given user value (default: NaN) |
Definition at line 459 of file conditional_removal.h.
void pcl::ConditionalRemoval::setUserFilterValue | ( | float | val | ) | [inline] |
Provide a value that the filtered points should be set to instead of removing them.
Used in conjunction with setKeepOrganized ().
val | the user given value that the filtered point dimensions should be set to |
Definition at line 476 of file conditional_removal.h.