42#include <pcl/pcl_base.h>
43#include <pcl/common/io.h>
44#include <pcl/PointIndices.h>
56 template<
typename Po
intT>
void
69 template<
typename Po
intT>
void
79 template<
typename Po
intT>
83 using Ptr = shared_ptr<Filter<PointT> >;
84 using ConstPtr = shared_ptr<const Filter<PointT> >;
95 Filter (
bool extract_removed_indices =
false) :
126 if (
input_.get () == &output)
173 inline const std::string&
189 using Ptr = shared_ptr<Filter<pcl::PCLPointCloud2> >;
190 using ConstPtr = shared_ptr<const Filter<pcl::PCLPointCloud2> >;
200 Filter (
bool extract_removed_indices =
false) :
201 removed_indices_ (new
Indices),
202 extract_removed_indices_ (extract_removed_indices)
210 return (removed_indices_);
219 pi.
indices = *removed_indices_;
249 inline const std::string&
252 return (filter_name_);
257#ifdef PCL_NO_PRECOMPILE
258#include <pcl/filters/impl/filter.hpp>
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
PCLPointCloud2::Ptr PCLPointCloud2Ptr
virtual void applyFilter(PCLPointCloud2 &output)=0
Abstract filter method.
const std::string & getClassName() const
Get a string representation of the name of this class.
Filter(bool extract_removed_indices=false)
Empty constructor.
shared_ptr< const Filter< pcl::PCLPointCloud2 > > ConstPtr
std::string filter_name_
The filter name.
void filter(PCLPointCloud2 &output)
Calls the filtering method and returns the filtered dataset in output.
IndicesPtr removed_indices_
Indices of the points that are removed.
shared_ptr< Filter< pcl::PCLPointCloud2 > > Ptr
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
void getRemovedIndices(PointIndices &pi)
Get the point indices being removed.
IndicesConstPtr const getRemovedIndices() const
Get the point indices being removed.
Filter represents the base filter class.
void filter(PointCloud &output)
Calls the filtering method and returns the filtered dataset in output.
virtual void applyFilter(PointCloud &output)=0
Abstract filter method.
typename PointCloud::Ptr PointCloudPtr
typename PointCloud::ConstPtr PointCloudConstPtr
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
IndicesConstPtr const getRemovedIndices() const
Get the point indices being removed.
shared_ptr< Filter< PointT > > Ptr
shared_ptr< const Filter< PointT > > ConstPtr
const std::string & getClassName() const
Get a string representation of the name of this class.
std::string filter_name_
The filter name.
void getRemovedIndices(PointIndices &pi)
Get the point indices being removed.
IndicesPtr removed_indices_
Indices of the points that are removed.
Filter(bool extract_removed_indices=false)
Empty constructor.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
bool initCompute()
This method should get called before starting the actual computation.
bool deinitCompute()
This method should get called after finishing the actual computation.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
pcl::PCLHeader header
The point cloud header.
void copyPointCloud(const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out)
Copy all the fields from a given point cloud into a new point cloud.
void removeNaNNormalsFromPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, Indices &index)
Removes points that have their normals invalid (i.e., equal to NaN)
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.
shared_ptr< Indices > IndicesPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
shared_ptr< const Indices > IndicesConstPtr
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.