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

#include <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 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...

void	applyFilter (PointCloud< PointT > &output) override

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 Attributes
bool	keep_organized_ = false

float	user_filter_value_ = std::numeric_limits<float>::quiet_NaN()

Private Types
using	Base = FilterIndices< PointT >

using	PCL_Base = PCLBase< PointT >

Private Attributes
FunctionObjectT	functionObject_

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 45 of file functor_filter.h.

Member Typedef Documentation

◆ Base

template<typename PointT , typename FunctionObject >

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

private

Definition at line 46 of file functor_filter.h.

◆ FunctionObjectT

template<typename PointT , typename FunctionObject >

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

Definition at line 50 of file functor_filter.h.

◆ PCL_Base

template<typename PointT , typename FunctionObject >

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

private

Definition at line 47 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 77 of file functor_filter.h.

   : Base(extract_removed_indices), functionObject_(std::move(function_object))
   {
     filter_name_ = "functor_filter";
   }

◆ 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 160 of file functor_filter.h.

                                                       : Base(extract_removed_indices)
   {
     filter_name_ = "functor_filter";
   }

Member Function Documentation

◆ applyFilter() [1/2]

template<typename PointT , typename FunctionObject >

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

inlineoverride

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 100 of file functor_filter.h.

   {
     indices.clear();
     indices.reserve(indices_->size());
     if (extract_removed_indices_) {
       removed_indices_->clear();
       removed_indices_->reserve(indices_->size());
     }
  
     for (const auto index : *indices_) {
       // function object returns true for points that should be selected
       if (negative_ != functionObject_(*input_, index)) {
         indices.push_back(index);
       }
       else if (extract_removed_indices_) {
         removed_indices_->push_back(index);
       }
     }
   }

References pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::functionObject_.

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

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◆ applyFilter() [2/2]

template<typename PointT , typename FunctionObject >

void pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::applyFilter ( PointCloud< PointT > & output )

inlineoverride

Definition at line 120 of file functor_filter.h.

    {
        Indices indices;
        if (keep_organized_)
        {
            if (!extract_removed_indices_)
            {
                PCL_WARN ("[pcl::FilterIndices<PointT>::applyFilter] extract_removed_indices_ was set to 'true' to keep the point cloud organized.\n");
                extract_removed_indices_ = true;
            }
            applyFilter (indices);
 
            output = *input_;
 
            // To preserve legacy behavior, only coordinates xyz are filtered.
            // Copying a PointXYZ initialized with the user_filter_value_ into a generic
            // PointT, ensures only the xyz coordinates, if they exist at destination,
            // are overwritten.
            const PointXYZ ufv (user_filter_value_, user_filter_value_, user_filter_value_);
            for (const auto ri : *removed_indices_)  // ri = removed index
            copyPoint(ufv, output[ri]);
            if (!std::isfinite (user_filter_value_))
            output.is_dense = false;
        }
        else
        {
            output.is_dense = true;
            applyFilter (indices);
            pcl::copyPointCloud (*input_, indices, output);
        }
    }

References pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::applyFilter(), pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::keep_organized_, and pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::user_filter_value_.

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◆ getFunctionObject() [1/2]

template<typename PointT , typename FunctionObject >

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

inlinenoexcept

Definition at line 84 of file functor_filter.h.

   {
     return functionObject_;
   }

References pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::functionObject_.

◆ getFunctionObject() [2/2]

template<typename PointT , typename FunctionObject >

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

inlinenoexcept

Definition at line 90 of file functor_filter.h.

   {
     return functionObject_;
   }

References pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::functionObject_.

◆ 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 171 of file functor_filter.h.

   {
     functionObject_ = std::move(function_object);
   }

References pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::functionObject_.

Member Data Documentation

◆ functionObject_

template<typename PointT , typename FunctionObject >

FunctionObjectT pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::functionObject_

private

Definition at line 68 of file functor_filter.h.

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

◆ keep_organized_

template<typename PointT , typename FunctionObject >

bool pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::keep_organized_ = false

protected

Definition at line 63 of file functor_filter.h.

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

◆ user_filter_value_

template<typename PointT , typename FunctionObject >

float pcl::experimental::advanced::FunctorFilter< PointT, FunctionObject >::user_filter_value_ = std::numeric_limits<float>::quiet_NaN()

protected

Definition at line 64 of file functor_filter.h.

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

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

points_map_filter/src/pcl_expirimental-1.12.1/functor_filter.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ FunctionObjectT

◆ PCL_Base

Constructor & Destructor Documentation

◆ FunctorFilter() [1/2]

◆ FunctorFilter() [2/2]

Member Function Documentation

◆ applyFilter() [1/2]

◆ applyFilter() [2/2]

◆ getFunctionObject() [1/2]

◆ getFunctionObject() [2/2]

◆ setFunctionObject()

Member Data Documentation

◆ functionObject_

◆ keep_organized_

◆ user_filter_value_