Point Cloud Library (PCL) 1.12.0
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filter_indices.h
1/*
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36 * $Id: filter_indices.h 4707 2012-02-23 10:34:17Z florentinus $
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39
40#pragma once
41
42#include <pcl/filters/filter.h>
43
44namespace pcl
45{
46 /** \brief Removes points with x, y, or z equal to NaN (dry run).
47 *
48 * This function only computes the mapping between the points in the input
49 * cloud and the cloud that would result from filtering. It does not
50 * actually construct and output the filtered cloud.
51 *
52 * \note This function does not modify the input point cloud!
53 *
54 * \param cloud_in the input point cloud
55 * \param index the mapping (ordered): filtered_cloud[i] = cloud_in[index[i]]
56 *
57 * \see removeNaNFromPointCloud
58 * \ingroup filters
59 */
60 template<typename PointT> void
62
63 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
64 /** \brief @b FilterIndices represents the base class for filters that are about binary point removal.
65 * <br>
66 * All derived classes have to implement the \a filter (PointCloud &output) and the \a filter (Indices &indices) methods.
67 * Ideally they also make use of the \a negative_, \a keep_organized_ and \a extract_removed_indices_ systems.
68 * The distinguishment between the \a negative_ and \a extract_removed_indices_ systems only makes sense if the class automatically
69 * filters non-finite entries in the filtering methods (recommended).
70 * \author Justin Rosen
71 * \ingroup filters
72 */
73 template<typename PointT>
74 class FilterIndices : public Filter<PointT>
75 {
76 public:
79
82
83
84 /** \brief Constructor.
85 * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
86 */
94
96
97 /** \brief Calls the filtering method and returns the filtered point cloud indices.
98 * \param[out] indices the resultant filtered point cloud indices
99 */
100 void
101 filter (Indices &indices)
102 {
103 if (!initCompute ())
104 return;
105
106 // Apply the actual filter
107 applyFilter (indices);
108
109 deinitCompute ();
110 }
111
112 /** \brief Set whether the regular conditions for points filtering should apply, or the inverted conditions.
113 * \param[in] negative false = normal filter behavior (default), true = inverted behavior.
114 */
115 inline void
117 {
119 }
120
121 /** \brief Get whether the regular conditions for points filtering should apply, or the inverted conditions.
122 * \return The value of the internal \a negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
123 */
124 inline bool
125 getNegative () const
126 {
127 return (negative_);
128 }
129
130 /** \brief Set whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default: NaN),
131 * or removed from the PointCloud, thus potentially breaking its organized structure.
132 * \param[in] keep_organized false = remove points (default), true = redefine points, keep structure.
133 */
134 inline void
139
140 /** \brief Get whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default = NaN),
141 * or removed from the PointCloud, thus potentially breaking its organized structure.
142 * \return The value of the internal \a keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
143 */
144 inline bool
146 {
147 return (keep_organized_);
148 }
149
150 /** \brief Provide a value that the filtered points should be set to instead of removing them.
151 * Used in conjunction with \a setKeepOrganized ().
152 * \param[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
153 */
154 inline void
155 setUserFilterValue (float value)
156 {
157 user_filter_value_ = value;
158 }
159
160 protected:
161
164 using Filter<PointT>::input_;
166
167 /** \brief False = normal filter behavior (default), true = inverted behavior. */
169
170 /** \brief False = remove points (default), true = redefine points, keep structure. */
172
173 /** \brief The user given value that the filtered point dimensions should be set to (default = NaN). */
175
176 /** \brief Abstract filter method for point cloud indices. */
177 virtual void
178 applyFilter (Indices &indices) = 0;
179
180 /** \brief Abstract filter method for point cloud. */
181 void
182 applyFilter (PointCloud &output) override;
183 };
184
185 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
186 /** \brief @b FilterIndices represents the base class for filters that are about binary point removal.
187 * <br>
188 * All derived classes have to implement the \a filter (PointCloud &output) and the \a filter (Indices &indices) methods.
189 * Ideally they also make use of the \a negative_, \a keep_organized_ and \a extract_removed_indices_ systems.
190 * The distinguishment between the \a negative_ and \a extract_removed_indices_ systems only makes sense if the class automatically
191 * filters non-finite entries in the filtering methods (recommended).
192 * \author Justin Rosen
193 * \ingroup filters
194 */
195 template<>
196 class PCL_EXPORTS FilterIndices<pcl::PCLPointCloud2> : public Filter<pcl::PCLPointCloud2>
197 {
198 public:
200
201 /** \brief Constructor.
202 * \param[in] extract_removed_indices Set to true if you want to extract the indices of points being removed (default = false).
203 */
206 negative_ (false),
207 keep_organized_ (false),
208 user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
209 {
210 }
211
212 using Filter<PCLPointCloud2>::filter;
213
214 /** \brief Calls the filtering method and returns the filtered point cloud indices.
215 * \param[out] indices the resultant filtered point cloud indices
216 */
217 void
218 filter (Indices &indices);
219
220 /** \brief Set whether the regular conditions for points filtering should apply, or the inverted conditions.
221 * \param[in] negative false = normal filter behavior (default), true = inverted behavior.
222 */
223 inline void
225 {
226 negative_ = negative;
227 }
228
229 /** \brief Get whether the regular conditions for points filtering should apply, or the inverted conditions.
230 * \return The value of the internal \a negative_ parameter; false = normal filter behavior (default), true = inverted behavior.
231 */
232 inline bool
233 getNegative () const
234 {
235 return (negative_);
236 }
237
238 /** \brief Set whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default: NaN),
239 * or removed from the PointCloud, thus potentially breaking its organized structure.
240 * \param[in] keep_organized false = remove points (default), true = redefine points, keep structure.
241 */
242 inline void
244 {
245 keep_organized_ = keep_organized;
246 }
247
248 /** \brief Get whether the filtered points should be kept and set to the value given through \a setUserFilterValue (default = NaN),
249 * or removed from the PointCloud, thus potentially breaking its organized structure.
250 * \return The value of the internal \a keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.
251 */
252 inline bool
254 {
255 return (keep_organized_);
256 }
257
258 /** \brief Provide a value that the filtered points should be set to instead of removing them.
259 * Used in conjunction with \a setKeepOrganized ().
260 * \param[in] value the user given value that the filtered point dimensions should be set to (default = NaN).
261 */
262 inline void
263 setUserFilterValue (float value)
264 {
265 user_filter_value_ = value;
266 }
267
268 protected:
269
270 /** \brief False = normal filter behavior (default), true = inverted behavior. */
272
273 /** \brief False = remove points (default), true = redefine points, keep structure. */
275
276 /** \brief The user given value that the filtered point dimensions should be set to (default = NaN). */
278
279 /** \brief Abstract filter method for point cloud indices. */
280 virtual void
281 applyFilter (Indices &indices) = 0;
282
283 /** \brief Abstract filter method for point cloud. */
284 void
286 };
287}
288
289#ifdef PCL_NO_PRECOMPILE
290#include <pcl/filters/impl/filter_indices.hpp>
291#endif
Iterator class for point clouds with or without given indices.
Filter represents the base filter class.
Definition filter.h:81
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
Definition filter.h:161
IndicesPtr removed_indices_
Indices of the points that are removed.
Definition filter.h:155
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
void applyFilter(PCLPointCloud2 &output) override=0
Abstract filter method for point cloud.
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.
virtual void applyFilter(Indices &indices)=0
Abstract filter method for point cloud indices.
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
bool getNegative() const
Get whether the regular conditions for points filtering should apply, or the inverted conditions.
FilterIndices(bool extract_removed_indices=false)
Constructor.
void filter(Indices &indices)
Calls the filtering method and returns the filtered point cloud indices.
bool getKeepOrganized() const
Get whether the filtered points should be kept and set to the value given through setUserFilterValue ...
bool negative_
False = normal filter behavior (default), true = inverted behavior.
void setKeepOrganized(bool keep_organized)
Set whether the filtered points should be kept and set to the value given through setUserFilterValue ...
FilterIndices represents the base class for filters that are about binary point removal.
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
void setKeepOrganized(bool keep_organized)
Set whether the filtered points should be kept and set to the value given through setUserFilterValue ...
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
FilterIndices(bool extract_removed_indices=false)
Constructor.
virtual void applyFilter(Indices &indices)=0
Abstract filter method for point cloud indices.
void filter(Indices &indices)
Calls the filtering method and returns the filtered point cloud indices.
bool getNegative() const
Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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.
bool negative_
False = normal filter behavior (default), true = inverted behavior.
bool getKeepOrganized() const
Get whether the filtered points should be kept and set to the value given through setUserFilterValue ...
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
bool initCompute()
This method should get called before starting the actual computation.
Definition pcl_base.hpp:138
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_base.hpp:174
PointCloud represents the base class in PCL for storing collections of 3D points.
void removeNaNFromPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, Indices &index)
Removes points with x, y, or z equal to NaN.
Definition filter.hpp:46
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.