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

#include <pcl/filters/extract_indices.h>

Inheritance diagram for pcl::ExtractIndices< pcl::PCLPointCloud2 >:

Collaboration diagram for pcl::ExtractIndices< pcl::PCLPointCloud2 >:

Public Types
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr

using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

using	Ptr

using	ConstPtr

Public Types inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PointCloud

using	Ptr

using	ConstPtr

Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
using	Ptr = shared_ptr<Filter<pcl::PCLPointCloud2> >

using	ConstPtr = shared_ptr<const Filter<pcl::PCLPointCloud2> >

using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr

using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

using	Ptr

using	ConstPtr

using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr

using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

using	PointIndicesPtr

using	PointIndicesConstPtr

Public Member Functions
	ExtractIndices ()
	Empty constructor.

	ExtractIndices (bool extract_removed_indices=false)
	Constructor.

void	filterDirectly (PointCloudPtr &cloud)
	Apply the filter and store the results directly in the input cloud.

Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
	FilterIndices (bool extract_removed_indices=false)
	Constructor.

void	filter (Indices &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 () const
	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 () 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.

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

	FilterIndices (bool extract_removed_indices=false)
	Constructor.

void	filter (Indices &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 () const
	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 () 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.

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

Public Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
	Filter (bool extract_removed_indices=false)
	Empty constructor.

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

void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.

void	filter (PCLPointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.

	Filter (bool extract_removed_indices=false)
	Empty constructor.

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

void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.

void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.

Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
	PCLBase ()
	Empty constructor.

virtual	~PCLBase ()=default
	destructor.

void	setInputCloud (const PCLPointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.

PCLPointCloud2ConstPtr const	getInputCloud () const
	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 () const
	Get a pointer to the vector of indices used.

	PCLBase ()
	Empty constructor.

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

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

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

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

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

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

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.

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

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

const pcl::PCLPointCloud2 &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Types
using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

using	FieldList

Protected Member Functions
void	applyFilter (PCLPointCloud2 &output) override
	Extract point indices into a separate PointCloud.

void	applyFilter (Indices &indices) override
	Extract point indices.

void	applyFilter (PointCloud &output) override
	Filtered results are stored in a separate point cloud.

void	applyFilter (Indices &indices) override
	Filtered results are indexed by an indices array.

void	applyFilterIndices (Indices &indices)
	Filtered results are indexed by an indices array.

Protected Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
void	applyFilter (PointCloud &output) override
	Abstract filter method for point cloud.

Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.

virtual void	applyFilter (PointCloud &output)=0
	Abstract filter method.

const std::string &	getClassName () const
	Get a string representation of the name of this class.

Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool	initCompute ()

bool	deinitCompute ()

bool	initCompute ()
	This method should get called before starting the actual computation.

bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Additional Inherited Members
Protected Attributes inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
bool	negative_ {false}
	False = normal filter behavior (default), true = inverted behavior.

bool	keep_organized_ {false}
	False = remove points (default), true = redefine points, keep structure.

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

bool	negative_
	False = normal filter behavior (default), true = inverted behavior.

bool	keep_organized_
	False = remove points (default), true = redefine points, keep structure.

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr	removed_indices_
	Indices of the points that are removed.

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.

std::string	filter_name_
	The filter name.

IndicesPtr	removed_indices_
	Indices of the points that are removed.

std::string	filter_name_
	The filter name.

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.

Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

std::vector< uindex_t >	field_sizes_
	The size of each individual field.

index_t	x_idx_
	The x-y-z fields indices.

index_t	y_idx_

index_t	z_idx_

std::string	x_field_name_
	The desired x-y-z field names.

std::string	y_field_name_

std::string	z_field_name_

PointCloudConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

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 160 of file extract_indices.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::ConstPtr

Definition at line 80 of file extract_indices.h.

◆ FieldList

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::FieldList

protected

Definition at line 75 of file extract_indices.h.

◆ PCLPointCloud2

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::PCLPointCloud2 = pcl::PCLPointCloud2

Definition at line 163 of file extract_indices.h.

◆ PCLPointCloud2ConstPtr

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

Definition at line 165 of file extract_indices.h.

◆ PCLPointCloud2Ptr

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::PCLPointCloud2Ptr = PCLPointCloud2::Ptr

Definition at line 164 of file extract_indices.h.

◆ PointCloud

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::PointCloud

protected

Definition at line 72 of file extract_indices.h.

◆ PointCloudConstPtr

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::PointCloudConstPtr

protected

Definition at line 74 of file extract_indices.h.

◆ PointCloudPtr

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::PointCloudPtr

protected

Definition at line 73 of file extract_indices.h.

◆ Ptr

using pcl::ExtractIndices< pcl::PCLPointCloud2 >::Ptr

Definition at line 79 of file extract_indices.h.

Constructor & Destructor Documentation

◆ ExtractIndices() [1/2]

pcl::ExtractIndices< pcl::PCLPointCloud2 >::ExtractIndices ( )

inline

Empty constructor.

Definition at line 168 of file extract_indices.h.

References pcl::Filter< pcl::PCLPointCloud2 >::filter_name_, and pcl::PCLBase< pcl::PCLPointCloud2 >::use_indices_.

◆ ExtractIndices() [2/2]

pcl::ExtractIndices< pcl::PCLPointCloud2 >::ExtractIndices ( 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 85 of file extract_indices.h.

Member Function Documentation

◆ applyFilter() [1/4]

void pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilter ( Indices & indices )

inlineoverrideprotectedvirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

Definition at line 125 of file extract_indices.h.

◆ applyFilter() [2/4]

void pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Extract point indices.

Parameters

indices the resultant indices

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ applyFilter() [3/4]

void pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 & output )

overrideprotectedvirtual

Extract point indices into a separate PointCloud.

Parameters

[out] output the resultant point cloud

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ applyFilter() [4/4]

void pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilter ( PointCloud & output )

overrideprotected

Filtered results are stored in a separate point cloud.

Parameters

[out] output The resultant point cloud.

Definition at line 119 of file extract_indices.hpp.

References pcl::Filter< pcl::PCLPointCloud2 >::extract_removed_indices_, pcl::Filter< pcl::PCLPointCloud2 >::getClassName(), pcl::PCLBase< pcl::PCLPointCloud2 >::indices_, pcl::PCLBase< pcl::PCLPointCloud2 >::input_, pcl::FilterIndices< pcl::PCLPointCloud2 >::negative_, and pcl::Filter< pcl::PCLPointCloud2 >::removed_indices_.

◆ applyFilterIndices()

void pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilterIndices ( Indices & indices )

protected

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 134 of file extract_indices.hpp.

References pcl::PCLBase< pcl::PCLPointCloud2 >::indices_, pcl::PCLBase< pcl::PCLPointCloud2 >::input_, and pcl::Filter< pcl::PCLPointCloud2 >::removed_indices_.

◆ filterDirectly()

void pcl::ExtractIndices< pcl::PCLPointCloud2 >::filterDirectly ( PointCloudPtr & cloud )

Apply the filter and store the results directly in the input cloud.

This method will save the time and memory copy of an output cloud but can not alter the original size of the input cloud: It operates as though setKeepOrganized() is true and will overwrite the filtered points instead of remove them. All fields of filtered points are replaced with the value set by setUserFilterValue() (default = NaN). This method also automatically alters the input cloud set via setInputCloud(). It does not alter the value of the internal keep organized boolean as set by setKeepOrganized().

Parameters

cloud The point cloud used for input and output.

Definition at line 101 of file extract_indices.hpp.

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

pcl/filters/extract_indices.h
pcl/filters/impl/extract_indices.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ FieldList

◆ PCLPointCloud2

◆ PCLPointCloud2ConstPtr

◆ PCLPointCloud2Ptr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ ExtractIndices() [1/2]

◆ ExtractIndices() [2/2]

Member Function Documentation

◆ applyFilter() [1/4]

◆ applyFilter() [2/4]

◆ applyFilter() [3/4]

◆ applyFilter() [4/4]

◆ applyFilterIndices()

◆ filterDirectly()