#include <nrt/PointCloud2/Filter/PassThroughFilter.H>

A filter that passes through points that satisfy some criterion.

Pass through filters allow a user defined function to choose which points are allowed to be passed through the filter. In addition, the filter can either invert its output, passing through those that fail a test, or it can choose to replace values that pass some criterion instead of passing them through the filter.

A pass through filter does not allow for a call to filter() with no additional arguments. A criterion function, along with an optional value to use in replacement, are required.

Criterion functions must take in the field type under consideration and return true if the parameter passes some test, or false if it fails.

An example of such a function that passes through geometry data that falls within some range could look like:

PointCloud2 myCloud;

auto filtered = filterPointCloud( myCloud, PassThroughFilter(), [](PointCloud2::Geometry const & p){ return p.x() >= 0.0f && p.x() <= 1.0f );

The above code will filter a point cloud with a pass through filter, letting through any point with an x value in the range [0.0, 1.0].

Criterion functions can be as complicated as you wish, so long as they only operate on one point at a time

Examples:: tests/test-PointCloud2Filter.C.

Definition at line 68 of file PassThroughFilter.H.

Inheritance diagram for nrt::PassThroughFilter:

Public Member Functions
	PassThroughFilter (bool replaceValue=false, bool invertResult=false)
	Create a pass through filter that lets through only certain points. More...

PointCloud2	filter (PointCloud2 const input, std::function< bool(PointCloud2::Geometry const &)> &&func, PointCloud2::Geometry const &replaceValue=PointCloud2::Geometry())
	Filter the input, applying func to every point to see what to do. More...

PointCloud2	filter (PointCloud2 const input, Indices const indices, std::function< bool(PointCloud2::Geometry const &)> &&func, PointCloud2::Geometry const &replaceValue=PointCloud2::Geometry())
	Filter the input, applying func to every point in a subset to see what to do. More...

template<class Field >
PointCloud2	filter (PointCloud2 const input, std::function< bool(Field const &)> &&func, Field const &replaceValue=Field())
	Filter the input on a specific field, applying func to every point to see what to do. More...

template<class Field >
PointCloud2	filter (PointCloud2 const input, Indices const indices, std::function< bool(Field const &)> &&func, Field const &replaceValue=Field())
	Filter the input on a specific field, applying func to every point in a subset to see what to do. More...

template<class Field >
auto	filter (PointCloud2 const input, std::function< bool(Field const &)> &&func, Field const &replaceValue) -> PointCloud2

template<class Field >
auto	filter (PointCloud2 const input, Indices const indices, std::function< bool(Field const &)> &&func, Field const &replaceValue) -> PointCloud2

template<class Field >
auto	filterImpl (size_t const inputSize, PointCloud2::Iterator< Field > outputEnd, std::function< bool(Field const &)> &&func, Field const &replaceValue) -> Indices

Public Member Functions inherited from nrt::FilterBase
virtual	~FilterBase ()
	Virtual destruction.

template<class Field >
PointCloud2	filter (PointCloud2 const input)
	Force the filter to operate on a specific field, if supported. More...

template<class Field >
PointCloud2	filter (PointCloud2 const input, Indices const indices)
	Force the filter to operate on a specific field of a subset, if supported. More...

Protected Member Functions
PointCloud2	filter (PointCloud2 const input)
	Normal filtering not supported, must specify additional arguments.

PointCloud2	filter (PointCloud2 const input, Indices const indices)
	Normal filtering not supported, must specify additional arguments.

Indices	filterImpl (size_t const inputSize, PointCloud2::Iterator<> outputEnd, std::function< bool(PointCloud2::Geometry const &)> &&func, PointCloud2::Geometry const &replaceValue)
	Figures out which indices we'll have to remove, if any. More...

template<class Field >
Indices	filterImpl (size_t const inputSize, PointCloud2::Iterator< Field > outputEnd, std::function< bool(Field const &)> &&func, Field const &replaceValue)
	Figures out which indices we'll have to remove, if any, templated version. More...

Constructor & Destructor Documentation

nrt::PassThroughFilter::PassThroughFilter	(	bool	replaceValue = `false`,
		bool	invertResult = `false`
	)

Create a pass through filter that lets through only certain points.

Parameters

replaceValue	Whether we will replace (true) or remove (false) points
invertResult	Whether we we should invert the result of the pass through function

Member Function Documentation

PointCloud2 nrt::PassThroughFilter::filter	(	PointCloud2 const	input,
		std::function< bool(PointCloud2::Geometry const &)> &&	func,
		PointCloud2::Geometry const &	replaceValue = `PointCloud2::Geometry()`
	)

Filter the input, applying func to every point to see what to do.

Parameters

input	The cloud to filter
func	The filtering function/functor
replaceValue	The value to use for replacement, if enabled

Returns: The filtered point cloud

PointCloud2 nrt::PassThroughFilter::filter	(	PointCloud2 const	input,
		Indices const	indices,
		std::function< bool(PointCloud2::Geometry const &)> &&	func,
		PointCloud2::Geometry const &	replaceValue = `PointCloud2::Geometry()`
	)

Filter the input, applying func to every point in a subset to see what to do.

Parameters

input	The cloud to filter
indices	The subset to operate on
func	The filtering function/functor
replaceValue	The value to use for replacement, if enabled

Returns: The filtered point cloud

template<class Field >

PointCloud2 nrt::PassThroughFilter::filter	(	PointCloud2 const	input,
		std::function< bool(Field const &)> &&	func,
		Field const &	replaceValue = `Field()`
	)

Filter the input on a specific field, applying func to every point to see what to do.

Template Parameters

Field The specific field to filter

Parameters

input	The cloud to filter
func	The filtering function/functor
replaceValue	The value to use for replacement, if enabled

Returns: The filtered point cloud

template<class Field >

PointCloud2 nrt::PassThroughFilter::filter	(	PointCloud2 const	input,
		Indices const	indices,
		std::function< bool(Field const &)> &&	func,
		Field const &	replaceValue = `Field()`
	)

Filter the input on a specific field, applying func to every point in a subset to see what to do.

Template Parameters

Field The specific field to filter

Parameters

input	The cloud to filter
indices	The subset to filter
func	The filtering function/functor
replaceValue	The value to use for replacement, if enabled

Returns: The filtered point cloud

Indices nrt::PassThroughFilter::filterImpl	(	size_t const	inputSize,
		PointCloud2::Iterator<>	outputEnd,
		std::function< bool(PointCloud2::Geometry const &)> &&	func,
		PointCloud2::Geometry const &	replaceValue
	)

protected

Figures out which indices we'll have to remove, if any.

Parameters

inputSize	the size of the input
outputEnd	end iterator for the output
func	The filtering function
replaceValue	The replacement value

Returns: The indices to remove

template<class Field >

Indices nrt::PassThroughFilter::filterImpl	(	size_t const	inputSize,
		PointCloud2::Iterator< Field >	outputEnd,
		std::function< bool(Field const &)> &&	func,
		Field const &	replaceValue
	)

protected

Figures out which indices we'll have to remove, if any, templated version.

Template Parameters

The	field to filter

Parameters

inputSize	the size of the input
outputEnd	end iterator for the output
func	The filtering function
replaceValue	The replacement value

Returns: The indices to remove

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

include/nrt/PointCloud2/Filter/PassThroughFilter.H
include/nrt/PointCloud2/Filter/details/PassThroughImpl.H

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation