Point Cloud Library (PCL): pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject

Filter point clouds and indices based on a function object passed in the ctor. More...

#include <pcl/filters/experimental/functor_filter.h>

Inheritance diagram for pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >:

Collaboration diagram for pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >:

Public Types
using	FunctionObjectT = FunctionObject

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
	FunctorFilter (FunctionObjectT function_object, bool extract_removed_indices=false)
	Constructor. More...

const FunctionObjectT &	getFunctionObject () const noexcept

FunctionObjectT &	getFunctionObject () noexcept

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

IndicesConstPtr const	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...

PointCloudConstPtr const	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...

IndicesConstPtr const	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
	FunctorFilter (bool extract_removed_indices=false)
	ctor to be used by derived classes with member function as FilterFunction More...

void	setFunctionObject (FunctionObjectT function_object) const noexcept
	utility function for derived class More...

Protected Member Functions inherited from pcl::FilterIndices< PointT >
void	applyFilter (PointCloud &output) override
	Abstract filter method for point cloud. 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
bool	negative_
	False = normal filter behavior (default), true = inverted behavior. More...

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

PointCloudConstPtr	input_
	The input point cloud dataset. More...

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

bool	keep_organized_ {false}
	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 FunctionObject>
class pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >

Filter point clouds and indices based on a function object passed in the ctor.

The function object can be anything (lambda, std::function, invocable class, etc.) that can be moved into the class. Additionally, it must satisfy the condition is_function_object_for_filter_v

Definition at line 35 of file functor_filter.h.

Member Typedef Documentation

◆ FunctionObjectT

template<typename PointT , typename FunctionObject >

using pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::FunctionObjectT = FunctionObject

Definition at line 40 of file functor_filter.h.

Constructor & Destructor Documentation

◆ FunctorFilter() [1/2]

template<typename PointT , typename FunctionObject >

pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::FunctorFilter	(	FunctionObjectT	function_object,
		bool	extract_removed_indices = `false`
	)

inline

Constructor.

Parameters

[in]	function_object	Object of effective type `FilterFunction` in order to filter out the indices for which it returns false
[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 65 of file functor_filter.h.

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

◆ FunctorFilter() [2/2]

template<typename PointT , typename FunctionObject >

pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::FunctorFilter ( bool extract_removed_indices = false )

inlineprotected

ctor to be used by derived classes with member function as FilterFunction

Parameters

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

Note: The class would be ill-defined until setFunctionObject has been called Do not call any filter routine until then

Definition at line 116 of file functor_filter.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT , typename FunctionObject >

void pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::applyFilter ( Indices & indices )

inlineoverridevirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 88 of file functor_filter.h.

References pcl::Filter< PointT >::extract_removed_indices_, pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::indices_, pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::input_, pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::negative_, and pcl::Filter< PointT >::removed_indices_.

◆ getFunctionObject() [1/2]

template<typename PointT , typename FunctionObject >

const FunctionObjectT& pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::getFunctionObject ( ) const

inlinenoexcept

Definition at line 72 of file functor_filter.h.

◆ getFunctionObject() [2/2]

template<typename PointT , typename FunctionObject >

FunctionObjectT& pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::getFunctionObject ( )

inlinenoexcept

Definition at line 78 of file functor_filter.h.

◆ setFunctionObject()

template<typename PointT , typename FunctionObject >

void pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::setFunctionObject ( FunctionObjectT function_object ) const

inlineprotectednoexcept

utility function for derived class

Parameters

[in] function_object Object of effective type FilterFunction in order to filter out the indices for which it returns false

Definition at line 127 of file functor_filter.h.

Member Data Documentation

◆ indices_

template<typename PointT , typename FunctionObject >

IndicesPtr pcl::PCLBase< PointT >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 150 of file pcl_base.h.

Referenced by pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::applyFilter().

◆ input_

template<typename PointT , typename FunctionObject >

PointCloudConstPtr pcl::PCLBase< PointT >::input_

protected

The input point cloud dataset.

Definition at line 147 of file pcl_base.h.

Referenced by pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::applyFilter().

◆ negative_

template<typename PointT , typename FunctionObject >

bool pcl::FilterIndices< PointT >::negative_

protected

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

Definition at line 167 of file filter_indices.h.

Referenced by pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::applyFilter().

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

pcl/filters/experimental/functor_filter.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT, typename FunctionObject> class pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >

Member Typedef Documentation

◆ FunctionObjectT

Constructor & Destructor Documentation

◆ FunctorFilter() [1/2]

◆ FunctorFilter() [2/2]

Member Function Documentation

◆ applyFilter()

◆ getFunctionObject() [1/2]

◆ getFunctionObject() [2/2]

◆ setFunctionObject()

Member Data Documentation

◆ indices_

◆ input_

◆ negative_

template<typename PointT, typename FunctionObject>
class pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >