W3cubDocs

/PointCloudLibrary

ShadowPoints removes the ghost points appearing on edge discontinuties More...

#include <pcl/filters/shadowpoints.h>

Public Types

using Ptr = shared_ptr< ShadowPoints< PointT, NormalT > >
using ConstPtr = shared_ptr< const ShadowPoints< PointT, NormalT > >
- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
using Ptr = shared_ptr< FilterIndices< PointT > >
using ConstPtr = shared_ptr< const FilterIndices< PointT > >
- Public Types inherited from pcl::Filter< PointT >
using Ptr = shared_ptr< Filter< PointT > >
using ConstPtr = shared_ptr< const Filter< PointT > >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

ShadowPoints (bool extract_removed_indices=false)
Empty constructor. More...
void setNormals (const NormalsPtr &normals)
Set the normals computed on the input point cloud. More...
NormalsPtr getNormals () const
Get the normals computed on the input point cloud. More...
void setThreshold (float threshold)
Set the threshold for shadow points rejection. More...
float getThreshold () const
Get the threshold for shadow points rejection. More...
- Public Member Functions inherited from pcl::FilterIndices< PointT >
FilterIndices (bool extract_removed_indices=false)
Constructor. More...
void filter (Indices &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 () const
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 () const
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...
- Public Member Functions inherited from pcl::Filter< PointT >
Filter (bool extract_removed_indices=false)
Empty constructor. More...
const IndicesConstPtr getRemovedIndices () const
Get the point indices being removed. More...
void getRemovedIndices (PointIndices &pi)
Get the point indices being removed. More...
void filter (PointCloud &output)
Calls the filtering method and returns the filtered dataset in output. More...
- Public Member Functions inherited from pcl::PCLBase< PointT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Member Functions

void applyFilter (PointCloud &output) override
Sample of point indices into a separate PointCloud. More...
void applyFilter (Indices &indices) override
Sample of point indices. More...
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Protected Attributes

NormalsPtr input_normals_
The normals computed at each point in the input cloud. More...
- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
False = normal filter behavior (default), true = inverted behavior. More...
bool keep_organized_
False = remove points (default), true = redefine points, keep structure. More...
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN). More...
- Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr removed_indices_
Indices of the points that are removed. More...
std::string filter_name_
The filter name. More...
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points. More...
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointT, typename NormalT>
class pcl::ShadowPoints< PointT, NormalT >

ShadowPoints removes the ghost points appearing on edge discontinuties

Author
Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 50 of file shadowpoints.h.

Member Typedef Documentation

ConstPtr

template<typename PointT , typename NormalT >
using pcl::ShadowPoints< PointT, NormalT >::ConstPtr = shared_ptr< const ShadowPoints<PointT, NormalT> >

Definition at line 70 of file shadowpoints.h.

Ptr

template<typename PointT , typename NormalT >
using pcl::ShadowPoints< PointT, NormalT >::Ptr = shared_ptr< ShadowPoints<PointT, NormalT> >

Definition at line 69 of file shadowpoints.h.

Constructor & Destructor Documentation

ShadowPoints()

template<typename PointT , typename NormalT >
pcl::ShadowPoints< PointT, NormalT >::ShadowPoints ( bool extract_removed_indices = false )
inline

Empty constructor.

Definition at line 73 of file shadowpoints.h.

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

Member Function Documentation

applyFilter() [1/2]

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::applyFilter ( Indices & indices )
overrideprotectedvirtual

Sample of point indices.

Parameters
[out] indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 84 of file shadowpoints.hpp.

applyFilter() [2/2]

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::applyFilter ( PointCloud & output )
overrideprotectedvirtual

Sample of point indices into a separate PointCloud.

Parameters
[out] output the resultant point cloud

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 47 of file shadowpoints.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

getNormals()

template<typename PointT , typename NormalT >
NormalsPtr pcl::ShadowPoints< PointT, NormalT >::getNormals ( ) const
inline

Get the normals computed on the input point cloud.

Definition at line 89 of file shadowpoints.h.

References pcl::ShadowPoints< PointT, NormalT >::input_normals_.

getThreshold()

template<typename PointT , typename NormalT >
float pcl::ShadowPoints< PointT, NormalT >::getThreshold ( ) const
inline

Get the threshold for shadow points rejection.

Definition at line 99 of file shadowpoints.h.

setNormals()

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::setNormals ( const NormalsPtr & normals )
inline

Set the normals computed on the input point cloud.

Parameters
[in] normals the normals computed for the input cloud

Definition at line 85 of file shadowpoints.h.

References pcl::ShadowPoints< PointT, NormalT >::input_normals_.

setThreshold()

template<typename PointT , typename NormalT >
void pcl::ShadowPoints< PointT, NormalT >::setThreshold ( float threshold )
inline

Set the threshold for shadow points rejection.

Parameters
[in] threshold the threshold

Definition at line 95 of file shadowpoints.h.

Member Data Documentation

input_normals_

template<typename PointT , typename NormalT >
NormalsPtr pcl::ShadowPoints< PointT, NormalT >::input_normals_
protected

The normals computed at each point in the input cloud.

Definition at line 104 of file shadowpoints.h.

Referenced by pcl::ShadowPoints< PointT, NormalT >::getNormals(), and pcl::ShadowPoints< PointT, NormalT >::setNormals().


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_shadow_points.html