Public Member Functions | Protected Member Functions | Protected Attributes

pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 > Class Template Reference
[Module filters]

StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. More...

#include <pcl/filters/statistical_outlier_removal.h>

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

Public Member Functions

 StatisticalOutlierRemoval (bool extract_removed_indices=false)
 Empty constructor.
void setMeanK (int nr_k)
 Set the number of points (k) to use for mean distance estimation.
int getMeanK ()
 Get the number of points to use for mean distance estimation.
void setStddevMulThresh (double std_mul)
 Set the standard deviation multiplier threshold.
double getStddevMulThresh ()
 Get the standard deviation multiplier threshold as set by the user.
void setNegative (bool negative)
 Set whether the indices should be returned, or all points _except_ the indices.
bool getNegative ()
 Get the value of the internal negative_ parameter.

Protected Member Functions

void applyFilter (PointCloud2 &output)
 Abstract filter method.

Protected Attributes

int mean_k_
 The number of points to use for mean distance estimation.
double std_mul_
 Standard deviations threshold (i.e., points outside of $ \mu \pm \sigma \cdot std\_mul $ will be marked as outliers).
KdTreePtr tree_
 A pointer to the spatial search object.
bool negative_
 If true, the outliers will be returned instead of the inliers (default: false).

Detailed Description

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

StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.

For more information check:

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

Definition at line 173 of file statistical_outlier_removal.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 190 of file statistical_outlier_removal.h.


Member Function Documentation

void pcl::StatisticalOutlierRemoval< 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 >.

int pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getMeanK (  )  [inline]

Get the number of points to use for mean distance estimation.

Definition at line 208 of file statistical_outlier_removal.h.

bool pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getNegative (  )  [inline]

Get the value of the internal negative_ parameter.

If true, all points _except_ the input indices will be returned.

Definition at line 245 of file statistical_outlier_removal.h.

double pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getStddevMulThresh (  )  [inline]

Get the standard deviation multiplier threshold as set by the user.

Definition at line 227 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setMeanK ( int  nr_k  )  [inline]

Set the number of points (k) to use for mean distance estimation.

Parameters:
nr_k the number of points to use for mean distance estimation

Definition at line 201 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setNegative ( bool  negative  )  [inline]

Set whether the indices should be returned, or all points _except_ the indices.

Parameters:
negative true if all points _except_ the input indices will be returned, false otherwise

Definition at line 236 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setStddevMulThresh ( double  std_mul  )  [inline]

Set the standard deviation multiplier threshold.

All points outside the

\[ \mu \pm \sigma \cdot std\_mul \]

will be considered outliers, where $ \mu $ is the estimated mean, and $ \sigma $ is the standard deviation.

Parameters:
std_mul the standard deviation multiplier threshold

Definition at line 220 of file statistical_outlier_removal.h.


Member Data Documentation

The number of points to use for mean distance estimation.

Definition at line 252 of file statistical_outlier_removal.h.

If true, the outliers will be returned instead of the inliers (default: false).

Definition at line 263 of file statistical_outlier_removal.h.

Standard deviations threshold (i.e., points outside of $ \mu \pm \sigma \cdot std\_mul $ will be marked as outliers).

Definition at line 257 of file statistical_outlier_removal.h.

A pointer to the spatial search object.

Definition at line 260 of file statistical_outlier_removal.h.


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