Public Member Functions | Protected Member Functions | Protected Attributes

pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 > Class Template Reference
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RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K. More...

#include <pcl/filters/radius_outlier_removal.h>

Inheritance diagram for pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >:
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Collaboration diagram for pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >:
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List of all members.

Public Member Functions

 RadiusOutlierRemoval (bool extract_removed_indices=false)
 Empty constructor.
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.
double getRadiusSearch ()
 Get the sphere radius used for determining the k-nearest neighbors.
void setMinNeighborsInRadius (int min_pts)
 Set the minimum number of neighbors that a point needs to have in the given search radius in order to be considered an inlier (i.e., valid).
double getMinNeighborsInRadius ()
 Get the minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier and avoid being filtered.

Protected Member Functions

void applyFilter (PointCloud2 &output)
 Abstract filter method.

Protected Attributes

double search_radius_
 The nearest neighbors search radius for each point.
int min_pts_radius_
 The minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier.
KdTreePtr tree_
 A pointer to the spatial search object.

Detailed Description

template<>
class pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >

RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K.

Note:
setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
Author:
Radu Bogdan Rusu

Definition at line 143 of file radius_outlier_removal.h.


Constructor & Destructor Documentation

pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::RadiusOutlierRemoval ( bool  extract_removed_indices = false  )  [inline]

Empty constructor.

Definition at line 160 of file radius_outlier_removal.h.


Member Function Documentation

void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::applyFilter ( PointCloud2 output  )  [protected, virtual]

Abstract filter method.

The implementation needs to set output.{data, row_step, point_step, width, height, is_dense}.

Implements pcl::Filter< sensor_msgs::PointCloud2 >.

double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getMinNeighborsInRadius (  )  [inline]

Get the minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier and avoid being filtered.

Definition at line 197 of file radius_outlier_removal.h.

double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getRadiusSearch (  )  [inline]

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 178 of file radius_outlier_removal.h.

void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::setMinNeighborsInRadius ( int  min_pts  )  [inline]

Set the minimum number of neighbors that a point needs to have in the given search radius in order to be considered an inlier (i.e., valid).

Parameters:
min_pts the minimum number of neighbors

Definition at line 188 of file radius_outlier_removal.h.

void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::setRadiusSearch ( double  radius  )  [inline]

Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.

Parameters:
radius the sphere radius that is to contain all k-nearest neighbors

Definition at line 171 of file radius_outlier_removal.h.


Member Data Documentation

The minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier.

Definition at line 209 of file radius_outlier_removal.h.

The nearest neighbors search radius for each point.

Definition at line 204 of file radius_outlier_removal.h.

A pointer to the spatial search object.

Definition at line 212 of file radius_outlier_removal.h.


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