Point Cloud Library (PCL) 1.12.1
shadowpoints.h
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37
38#pragma once
39
40#include <pcl/filters/filter_indices.h>
41
42namespace pcl
43{
44 /** \brief @b ShadowPoints removes the ghost points appearing on edge discontinuties
45 *
46 * \author Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)
47 * \ingroup filters
48 */
49 template<typename PointT, typename NormalT>
50 class ShadowPoints : public FilterIndices<PointT>
51 {
61
63 using PointCloudPtr = typename PointCloud::Ptr;
65 using NormalsPtr = typename pcl::PointCloud<NormalT>::Ptr;
66
67 public:
68
69 using Ptr = shared_ptr< ShadowPoints<PointT, NormalT> >;
70 using ConstPtr = shared_ptr< const ShadowPoints<PointT, NormalT> >;
71
72 /** \brief Empty constructor. */
73 ShadowPoints (bool extract_removed_indices = false) :
74 FilterIndices<PointT> (extract_removed_indices),
76 threshold_ (0.1f)
77 {
78 filter_name_ = "ShadowPoints";
79 }
80
81 /** \brief Set the normals computed on the input point cloud
82 * \param[in] normals the normals computed for the input cloud
83 */
84 inline void
85 setNormals (const NormalsPtr &normals) { input_normals_ = normals; }
86
87 /** \brief Get the normals computed on the input point cloud */
88 inline NormalsPtr
89 getNormals () const { return (input_normals_); }
90
91 /** \brief Set the threshold for shadow points rejection
92 * \param[in] threshold the threshold
93 */
94 inline void
95 setThreshold (float threshold) { threshold_ = threshold; }
96
97 /** \brief Get the threshold for shadow points rejection */
98 inline float
99 getThreshold () const { return threshold_; }
100
101 protected:
102
103 /** \brief The normals computed at each point in the input cloud */
104 NormalsPtr input_normals_;
105
106 /** \brief Sample of point indices into a separate PointCloud
107 * \param[out] output the resultant point cloud
108 */
109 void
110 applyFilter (PointCloud &output) override;
111
112 /** \brief Sample of point indices
113 * \param[out] indices the resultant point cloud indices
114 */
115 void
116 applyFilter (Indices &indices) override;
117
118 private:
119
120 /** \brief Threshold for shadow point rejection
121 */
122 float threshold_;
123 };
124}
125
126#ifdef PCL_NO_PRECOMPILE
127#include <pcl/filters/impl/shadowpoints.hpp>
128#endif
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
Definition: filter.h:161
shared_ptr< Filter< PointT > > Ptr
Definition: filter.h:83
shared_ptr< const Filter< PointT > > ConstPtr
Definition: filter.h:84
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition: filter.h:174
std::string filter_name_
The filter name.
Definition: filter.h:158
IndicesPtr removed_indices_
Indices of the points that are removed.
Definition: filter.h:155
FilterIndices represents the base class for filters that are about binary point removal.
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
bool negative_
False = normal filter behavior (default), true = inverted behavior.
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:147
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: pcl_base.h:150
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
ShadowPoints removes the ghost points appearing on edge discontinuties
Definition: shadowpoints.h:51
void setNormals(const NormalsPtr &normals)
Set the normals computed on the input point cloud.
Definition: shadowpoints.h:85
NormalsPtr input_normals_
The normals computed at each point in the input cloud.
Definition: shadowpoints.h:104
NormalsPtr getNormals() const
Get the normals computed on the input point cloud.
Definition: shadowpoints.h:89
float getThreshold() const
Get the threshold for shadow points rejection.
Definition: shadowpoints.h:99
void applyFilter(PointCloud &output) override
Sample of point indices into a separate PointCloud.
void setThreshold(float threshold)
Set the threshold for shadow points rejection.
Definition: shadowpoints.h:95
ShadowPoints(bool extract_removed_indices=false)
Empty constructor.
Definition: shadowpoints.h:73
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.