LocalMaximum downsamples the cloud, by eliminating points that are locally maximal. More...

#include <pcl/filters/local_maximum.h>

Inheritance diagram for pcl::LocalMaximum< PointT >:

Public Member Functions
	LocalMaximum (bool extract_removed_indices=false)
	Empty constructor.
void	setRadius (float radius)
	Set the radius to use to determine if a point is the local max.
float	getRadius () const
	Get the radius to use to determine if a point is the local max.
Public Member Functions inherited from pcl::FilterIndices< PointT >
	FilterIndices (bool extract_removed_indices=false)
	Constructor.
virtual	~FilterIndices ()
	Empty virtual destructor.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
void	filter (std::vector< int > &indices)
	Calls the filtering method and returns the filtered point cloud indices.
void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions.
bool	getNegative ()
	Get whether the regular conditions for points filtering should apply, or the inverted conditions.
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.
bool	getKeepOrganized ()
	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.
void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them.
Public Member Functions inherited from pcl::Filter< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor.
virtual	~Filter ()
	Empty destructor.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Types
typedef FilterIndices< PointT > ::PointCloud	PointCloud
typedef pcl::search::Search < PointT >::Ptr	SearcherPtr

Protected Member Functions
void	applyFilter (PointCloud &output)
	Downsample a Point Cloud by eliminating points that are locally maximal in z.
void	applyFilter (std::vector< int > &indices)
	Filtered results are indexed by an indices array.
void	applyFilterIndices (std::vector< int > &indices)
	Filtered results are indexed by an indices array.

Additional Inherited Members
Public Types inherited from pcl::FilterIndices< PointT >
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < FilterIndices< PointT > >	Ptr
typedef boost::shared_ptr < const FilterIndices< PointT > >	ConstPtr
Protected Attributes inherited from pcl::FilterIndices< PointT >
bool	negative_
	False = normal filter behavior (default), true = inverted behavior.
bool	keep_organized_
	False = remove points (default), true = redefine points, keep structure.
float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

Detailed Description

template<typename PointT>
class pcl::LocalMaximum< PointT >

LocalMaximum downsamples the cloud, by eliminating points that are locally maximal.

The LocalMaximum class analyzes each point and removes those that are found to be locally maximal with respect to their neighbors (found via radius search). The comparison is made in the z dimension only at this time.

Author: Bradley J Chambers

Definition at line 61 of file local_maximum.h.

Member Typedef Documentation

template<typename PointT >

typedef FilterIndices<PointT>::PointCloud pcl::LocalMaximum< PointT >::PointCloud

protected

Definition at line 64 of file local_maximum.h.

template<typename PointT >

typedef pcl::search::Search<PointT>::Ptr pcl::LocalMaximum< PointT >::SearcherPtr

protected

Definition at line 65 of file local_maximum.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::LocalMaximum< PointT >::LocalMaximum ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 69 of file local_maximum.h.

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

Member Function Documentation

template<typename PointT >

void pcl::LocalMaximum< PointT >::applyFilter ( PointCloud & output )

protectedvirtual

Downsample a Point Cloud by eliminating points that are locally maximal in z.

Parameters

[out] output the resultant point cloud message

Implements pcl::FilterIndices< PointT >.

Definition at line 52 of file local_maximum.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointT >

void pcl::LocalMaximum< PointT >::applyFilter ( std::vector< int > & indices )

inlineprotectedvirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 108 of file local_maximum.h.

References pcl::LocalMaximum< PointT >::applyFilterIndices().

template<typename PointT >

void pcl::LocalMaximum< PointT >::applyFilterIndices ( std::vector< int > & indices )

protected

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 72 of file local_maximum.hpp.

References pcl::Filter< PointT >::filter(), pcl::isFinite(), pcl::SACMODEL_PLANE, pcl::PCLBase< PointT >::setInputCloud(), pcl::ProjectInliers< PointT >::setModelCoefficients(), and pcl::ProjectInliers< PointT >::setModelType().

Referenced by pcl::LocalMaximum< PointT >::applyFilter().

template<typename PointT >

float pcl::LocalMaximum< PointT >::getRadius ( ) const

inline

Get the radius to use to determine if a point is the local max.

Returns: The radius to use to determine if a point is the local max.

Definition at line 87 of file local_maximum.h.

template<typename PointT >

void pcl::LocalMaximum< PointT >::setRadius ( float radius )

inline

Set the radius to use to determine if a point is the local max.

Parameters

[in] radius The radius to use to determine if a point is the local max.

Definition at line 81 of file local_maximum.h.

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

/tmp/buildd/pcl-1.7.2/filters/include/pcl/filters/local_maximum.h
/tmp/buildd/pcl-1.7.2/filters/include/pcl/filters/impl/local_maximum.hpp

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::LocalMaximum< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::LocalMaximum< PointT >