iLab Neuromorphic Robotics Toolkit  0.1
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Pointcloud Filtering Operations

Contains classes and functionality related to filtering point clouds in a variety of ways, such as removing outliers, creating voxel grids, or passing through points.

Classes

class  nrt::DuplicateRemovalFilter
 A filter that removes all points which are considered to be "duplicates". More...
 
class  nrt::FilterBase
 Filter interface that all filters must inherit from. More...
 
class  nrt::PassThroughFilter
 A filter that passes through points that satisfy some criterion. More...
 
class  nrt::RandomRemovalFilter
 A filter that removes points from a point cloud. More...
 
class  nrt::VoxelFilter
 A filter that downsamples an input point cloud into a uniform grid. More...
 

Functions

template<class Filter >
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Filter &&filter)
 Filter a point cloud using some filter. More...
 
template<class Filter >
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter)
 Filter a point cloud subset using some filter. More...
 
template<class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Filter &&filter, FilterArgs &&...args)
 
template<class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter, FilterArgs &&...args)
 
template<class Field , class Filter >
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Filter &&filter)
 Filter a specific dense or sparse field of a cloud using some filter. More...
 
template<class Field , class Filter >
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter)
 Filter a specific dense or sparse field of a cloud subset using some filter. More...
 
template<class Field , class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Filter &&filter, FilterArgs &&...args)
 
template<class Field , class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud (PointCloud2 const input, Indices const indices, Filter &&filter, FilterArgs &&...args)
 

Function Documentation

template<class Filter >
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Filter &&  filter 
)

Filter a point cloud using some filter.

Template Parameters
FilterThe filter class
Parameters
inputThe point cloud to filter
filterThe parameterized filter to apply to the input
Returns
The filtered point cloud
Examples:
tests/test-PointCloud2Filter.C, and tests/test-PointCloud2OpenNI.C.
template<class Filter >
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Indices const  indices,
Filter &&  filter 
)

Filter a point cloud subset using some filter.

Template Parameters
FilterThe filter class
Parameters
inputThe point cloud to filter
indicesThe subset of the cloud to filter
filterThe parameterized filter to apply to the input
Returns
The filtered point cloud
template<class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Filter &&  filter,
FilterArgs &&...  args 
)

Filter a point cloud using some filter that has special arguments to its filter function

Template Parameters
FilterThe filter class
FilterArgsoptional arguments to the filter
Parameters
inputThe point cloud to filter
filterThe parameterized filter to apply to the input
argsThe arguments required by the Filter class' filter function
Returns
The filtered point cloud
template<class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Indices const  indices,
Filter &&  filter,
FilterArgs &&...  args 
)

Filter a point cloud subset using some filter that has special arguments to its filter function

Template Parameters
FilterThe filter class
FilterArgsoptional arguments to the filter
Parameters
inputThe point cloud to filter
indicesThe subset of the cloud to filter
filterThe parameterized filter to apply to the input
argsThe arguments required by the Filter class' filter function
Returns
The filtered point cloud
template<class Field , class Filter >
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Filter &&  filter 
)

Filter a specific dense or sparse field of a cloud using some filter.

Exceptions
PointCloud2FilterExceptionIf this operation is not supported
Template Parameters
FieldThe specific field (omit SparseField<>) to filter
FilterThe filter class
Parameters
inputThe point cloud to filter
filterThe parameterized filter to apply to the input
Returns
The filtered point cloud
template<class Field , class Filter >
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Indices const  indices,
Filter &&  filter 
)

Filter a specific dense or sparse field of a cloud subset using some filter.

Exceptions
PointCloud2FilterExceptionIf this operation is not supported
Template Parameters
FieldThe specific field (omit SparseField<>) to filter
FilterThe filter class
Parameters
inputThe point cloud to filter
indicesThe subset of the cloud to filter
filterThe parameterized filter to apply to the input
Returns
The filtered point cloud
template<class Field , class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Filter &&  filter,
FilterArgs &&...  args 
)

Filter a specific dense or sparse field of a cloud using some filter that has arguments to its filter function

Exceptions
PointCloud2FilterExceptionIf this operation is not supported
Template Parameters
FieldThe specific field (omit SparseField<>) to filter
FilterThe filter class
FilterArgsoptional arguments to the filter
Parameters
inputThe point cloud to filter
filterThe parameterized filter to apply to the input
argsThe arguments required by the Filter class' filter function
Returns
The filtered point cloud
template<class Field , class Filter , class... FilterArgs>
PointCloud2 nrt::filterPointCloud ( PointCloud2 const  input,
Indices const  indices,
Filter &&  filter,
FilterArgs &&...  args 
)

Filter a specific dense or sparse field of a cloud subset using some filter that has arguments to its filter function

Exceptions
PointCloud2FilterExceptionIf this operation is not supported
Template Parameters
FieldThe specific field (omit SparseField<>) to filter
FilterThe filter class
FilterArgsoptional arguments to the filter
Parameters
inputThe point cloud to filter
indicesThe subset of the cloud to filter
filterThe parameterized filter to apply to the input
argsThe arguments required by the Filter class' filter function
Returns
The filtered point cloud