Set the indices for the points laying within an interest region of the point cloud. SetIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) SetIndices (const PointIndicesConstPtr &indices) SetIndices (const IndicesConstPtr &indices) Provide a pointer to the vector of indices that represents the input data. Get a pointer to the input point cloud dataset. SetInputCloud (const PointCloudConstPtr &cloud) Public Member Functions inherited from pcl::PCLBase More.Ĭalls the filtering method and returns the filtered dataset in output. Public Member Functions inherited from pcl::Filterįilter (bool extract_removed_indices=false) Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). GetFilterLimitsNegative (bool &limit_negative) const Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). SetFilterLimitsNegative (const bool limit_negative) Get the field filter limits (min/max) set by the user. GetFilterLimits (double &limit_min, double &limit_max) const SetFilterLimits (const double &limit_min, const double &limit_max) Get the name of the field used for filtering. Provide the name of the field to be used for filtering data. SetFilterFieldName (const std::string &field_name) Returns the index in the downsampled cloud corresponding to a given set of coordinates. GetCentroidIndexAt (const Eigen::Vector3i &ijk) const Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). GetGridCoordinates (float x, float y, float z) const Returns the layout of the leafs for fast access to cells relative to current position. Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds). GetNeighborCentroidIndices (const PointT &reference_point, const Eigen::MatrixXi &relative_coordinates) const Returns the index in the resulting downsampled cloud of the specified point. Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed). Get the number of divisions along all 3 axes (after filtering is performed). Get the minimum coordinates of the bounding box (after filtering is performed). Returns true if leaf layout information will to be saved for later access. Set to true if leaf layout information needs to be saved for later access. SetSaveLeafLayout (bool save_leaf_layout) Return the minimum number of points required for a voxel to be used. Set the minimum number of points required for a voxel to be used. SetMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). Set to true if all fields need to be downsampled, or false if just XYZ. SetLeafSize (float lx, float ly, float lz) SetLeafSize (const Eigen::Vector4f &leaf_size) PointIndicesConstPtr = PointIndices::ConstPtr PointCloudConstPtr = typename PointCloud::ConstPtr
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