ExtractIndices extracts a set of indices from a point cloud. More...

#include <pcl/filters/extract_indices.h>

Inheritance diagram for pcl::ExtractIndices< sensor_msgs::PointCloud2 >:

Collaboration diagram for pcl::ExtractIndices< sensor_msgs::PointCloud2 >:

Public Types
typedef sensor_msgs::PointCloud2	PointCloud2
typedef PointCloud2::Ptr	PointCloud2Ptr
typedef PointCloud2::ConstPtr	PointCloud2ConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	ExtractIndices ()
	Empty constructor.
virtual void	filter (PointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.
void	filter (std::vector< int > &indices)
	Calls the filtering method and returns the filtered point cloud indices.
void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions.
bool	getNegative ()
	Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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.
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.
void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	setInputCloud (const PointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloud2ConstPtr const	getInputCloud ()
	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 ()
	Get a pointer to the vector of indices used.

Detailed Description

template<>
class pcl::ExtractIndices< sensor_msgs::PointCloud2 >

ExtractIndices extracts a set of indices from a point cloud.

Usage examples:

 pcl::ExtractIndices<PointType> filter;
 filter.setInputCloud (cloud_in);
 filter.setIndices (indices_in);
 // Extract the points in cloud_in referenced by indices_in as a separate point cloud:
 filter.filter (*cloud_out);
 // Retrieve indices to all points in cloud_in except those referenced by indices_in:
 filter.setNegative (true);
 filter.filter (*indices_out);
 // The resulting cloud_out is identical to cloud_in, but all points referenced by indices_in are made NaN:
 filter.setNegative (true);
 filter.setKeepOrganized (true);
 filter.filter (*cloud_out);

Note:: Does not inherently remove NaNs from results, hence the extract_removed_indices_ system is not used.

Author:: Radu Bogdan Rusu

Definition at line 157 of file extract_indices.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl::ExtractIndices< sensor_msgs::PointCloud2 >::PointCloud2

Reimplemented from pcl::FilterIndices< sensor_msgs::PointCloud2 >.

Definition at line 160 of file extract_indices.h.

typedef PointCloud2::ConstPtr pcl::ExtractIndices< sensor_msgs::PointCloud2 >::PointCloud2ConstPtr

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 162 of file extract_indices.h.

typedef PointCloud2::Ptr pcl::ExtractIndices< sensor_msgs::PointCloud2 >::PointCloud2Ptr

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 161 of file extract_indices.h.

typedef PointIndices::ConstPtr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesConstPtr [inherited]

Definition at line 280 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesPtr [inherited]

Definition at line 279 of file pcl_base.h.

Constructor & Destructor Documentation

pcl::ExtractIndices< sensor_msgs::PointCloud2 >::ExtractIndices ( ) [inline]

Empty constructor.

Definition at line 165 of file extract_indices.h.

Member Function Documentation

virtual void pcl::FilterIndices< sensor_msgs::PointCloud2 >::filter ( PointCloud2 & output ) [inline, virtual, inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:

[out] output the resultant filtered point cloud dataset

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 228 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::filter ( std::vector< int > & indices ) [inherited]

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

Parameters:

[out] indices the resultant filtered point cloud indices

IndicesPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 329 of file pcl_base.h.

PointCloud2ConstPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 303 of file pcl_base.h.

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::getKeepOrganized ( ) [inline, inherited]

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 272 of file filter_indices.h.

bool pcl::FilterIndices< sensor_msgs::PointCloud2 >::getNegative ( ) [inline, inherited]

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 252 of file filter_indices.h.

IndicesConstPtr const pcl::FilterIndices< sensor_msgs::PointCloud2 >::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

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

Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.

Definition at line 291 of file filter_indices.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

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 309 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

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 320 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setInputCloud ( const PointCloud2ConstPtr & cloud ) [inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::setKeepOrganized ( bool keep_organized ) [inline, inherited]

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 262 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::setNegative ( bool negative ) [inline, inherited]

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 243 of file filter_indices.h.

void pcl::FilterIndices< sensor_msgs::PointCloud2 >::setUserFilterValue ( float value ) [inline, inherited]

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 282 of file filter_indices.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/extract_indices.h

Public Types

Public Member Functions

Detailed Description

template<> class pcl::ExtractIndices< sensor_msgs::PointCloud2 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<>
class pcl::ExtractIndices< sensor_msgs::PointCloud2 >