PassThrough passes points in a cloud based on constraints for one particular field of the point type. More...

#include <pcl/filters/passthrough.h>

Inheritance diagram for pcl::PassThrough< PointT >:

Collaboration diagram for pcl::PassThrough< PointT >:

Public Types
typedef boost::shared_ptr < Filter< PointT > >	Ptr

typedef boost::shared_ptr < const Filter< PointT > >	ConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	PassThrough (bool extract_removed_indices=false)
	Constructor. More...

void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data. More...

std::string const	getFilterFieldName ()
	Retrieve the name of the field to be used for filtering data. More...

void	setFilterLimits (const float &limit_min, const float &limit_max)
	Set the numerical limits for the field for filtering data. More...

void	getFilterLimits (float &limit_min, float &limit_max)
	Get the numerical limits for the field for filtering data. More...

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. More...

void	getFilterLimitsNegative (bool &limit_negative)
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More...

bool	getFilterLimitsNegative ()
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More...

void	filter (PointCloud &output)

void	filter (std::vector< int > &indices)
	Calls the filtering method and returns the filtered point cloud indices. More...

void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...

bool	getNegative ()
	Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...

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. More...

bool	getKeepOrganized ()
	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. More...

void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them. More...

IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

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:

pcl::PassThrough<PointType> ptfilter (true); // Initializing with true will allow us to extract the removed indices
ptfilter.setInputCloud (cloud_in);
ptfilter.setFilterFieldName ("x");
ptfilter.setFilterLimits (0.0, 1000.0);
ptfilter.filter (*indices_x);
// The indices_x array indexes all points of cloud_in that have x between 0.0 and 1000.0
indices_rem = ptfilter.getRemovedIndices ();
// The indices_rem array indexes all points of cloud_in that have x smaller than 0.0 or larger than 1000.0
// and also indexes all non-finite points of cloud_in
ptfilter.setIndices (indices_x);
ptfilter.setFilterFieldName ("z");
ptfilter.setFilterLimits (-10.0, 10.0);
ptfilter.setNegative (true);
ptfilter.filter (*indices_xz);
// The indices_xz array indexes all points of cloud_in that have x between 0.0 and 1000.0 and z larger than 10.0 or smaller than -10.0
ptfilter.setIndices (indices_xz);
ptfilter.setFilterFieldName ("intensity");
ptfilter.setFilterLimits (FLT_MIN, 0.5);
ptfilter.setNegative (false);
ptfilter.filter (*cloud_out);
// The resulting cloud_out contains all points of cloud_in that are finite and have:
// x between 0.0 and 1000.0, z larger than 10.0 or smaller than -10.0 and intensity smaller than 0.5.

Author: Radu Bogdan Rusu

Definition at line 80 of file passthrough.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter< PointT >::ConstPtr

inherited

Definition at line 76 of file filter.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointT>

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter< PointT >::Ptr

inherited

Definition at line 75 of file filter.h.

Constructor & Destructor Documentation

template<typename PointT>

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

inline

Constructor.

Parameters

[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).

Definition at line 92 of file passthrough.h.

Member Function Documentation

template<typename PointT>

void pcl::FilterIndices< PointT >::filter ( PointCloud & output )

inlineinherited

Definition at line 92 of file filter_indices.h.

template<typename PointT>

void pcl::FilterIndices< PointT >::filter ( std::vector< int > & indices )

inlineinherited

Calls the filtering method and returns the filtered point cloud indices.

Parameters

[out] indices the resultant filtered point cloud indices

Definition at line 101 of file filter_indices.h.

template<typename PointT>

std::string const pcl::PassThrough< PointT >::getFilterFieldName ( )

inline

Retrieve the name of the field to be used for filtering data.

Returns: The name of the field that will be used for filtering.

Definition at line 115 of file passthrough.h.

template<typename PointT>

void pcl::PassThrough< PointT >::getFilterLimits	(	float &	limit_min,
		float &	limit_max
	)

inline

Get the numerical limits for the field for filtering data.

Parameters

[out]	limit_min	The minimum allowed field value (default = FLT_MIN).
[out]	limit_max	The maximum allowed field value (default = FLT_MAX).

Definition at line 137 of file passthrough.h.

template<typename PointT>

void pcl::PassThrough< PointT >::getFilterLimitsNegative ( bool & limit_negative )

inline

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Warning: This method will be removed in the future. Use getNegative() instead.

Parameters

[out] limit_negative true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 159 of file passthrough.h.

template<typename PointT>

bool pcl::PassThrough< PointT >::getFilterLimitsNegative ( )

inline

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Warning: This method will be removed in the future. Use getNegative() instead.

Returns: true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 169 of file passthrough.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT>

bool pcl::FilterIndices< PointT >::getKeepOrganized ( )

inlineinherited

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.

Returns: The value of the internal keep_organized_ parameter; false = remove points (default), true = redefine points, keep structure.

Definition at line 145 of file filter_indices.h.

template<typename PointT>

bool pcl::FilterIndices< PointT >::getNegative ( )

inlineinherited

Get whether the regular conditions for points filtering should apply, or the inverted conditions.

Returns: The value of the internal negative_ parameter; false = normal filter behavior (default), true = inverted behavior.

Definition at line 125 of file filter_indices.h.

template<typename PointT>

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

inlineinherited

Get the point indices being removed.

Returns: The value of the internal negative_ parameter; false = normal filter behavior (default), true = inverted behavior.

Definition at line 164 of file filter_indices.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT>

void pcl::PassThrough< PointT >::setFilterFieldName ( const std::string & field_name )

inline

Provide the name of the field to be used for filtering data.

In conjunction with setFilterLimits(), points having values outside this interval for this field will be discarded.

Parameters

[in] field_name The name of the field that will be used for filtering.

Definition at line 106 of file passthrough.h.

template<typename PointT>

void pcl::PassThrough< PointT >::setFilterLimits	(	const float &	limit_min,
		const float &	limit_max
	)

inline

Set the numerical limits for the field for filtering data.

In conjunction with setFilterFieldName(), points having values outside this interval for this field will be discarded.

Parameters

[in]	limit_min	The minimum allowed field value (default = FLT_MIN).
[in]	limit_max	The maximum allowed field value (default = FLT_MAX).

Definition at line 126 of file passthrough.h.

template<typename PointT>

void pcl::PassThrough< PointT >::setFilterLimitsNegative ( const bool limit_negative )

inline

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max) Default: false.

Warning: This method will be removed in the future. Use setNegative() instead.

Parameters

[in] limit_negative return data inside the interval (false) or outside (true)

Definition at line 149 of file passthrough.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT>

void pcl::FilterIndices< PointT >::setKeepOrganized ( bool keep_organized )

inlineinherited

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.

Parameters

[in] keep_organized false = remove points (default), true = redefine points, keep structure.

Definition at line 135 of file filter_indices.h.

template<typename PointT>

void pcl::FilterIndices< PointT >::setNegative ( bool negative )

inlineinherited

Set whether the regular conditions for points filtering should apply, or the inverted conditions.

Parameters

[in] negative false = normal filter behavior (default), true = inverted behavior.

Definition at line 116 of file filter_indices.h.

template<typename PointT>

void pcl::FilterIndices< PointT >::setUserFilterValue ( float value )

inlineinherited

Provide a value that the filtered points should be set to instead of removing them.

Used in conjunction with setKeepOrganized ().

Parameters

[in] value the user given value that the filtered point dimensions should be set to (default = NaN).

Definition at line 155 of file filter_indices.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/passthrough.h
/builddir/build/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/impl/passthrough.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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