Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
pcl::ModelOutlierRemoval< PointT > Class Template Reference

ModelOutlierRemoval filters points in a cloud based on the distance between model and point. More...

#include <pcl/filters/model_outlier_removal.h>

+ Inheritance diagram for pcl::ModelOutlierRemoval< PointT >:

Public Types

typedef pcl::PointCloud
< pcl::Normal >::Ptr 
PointCloudNPtr
 
typedef pcl::PointCloud
< pcl::Normal >::ConstPtr 
PointCloudNConstPtr
 
- Public Types inherited from pcl::FilterIndices< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr
< FilterIndices< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const FilterIndices< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 ModelOutlierRemoval (bool extract_removed_indices=false)
 Constructor. More...
 
void setModelCoefficients (const pcl::ModelCoefficients model_coefficients)
 sets the models coefficients More...
 
pcl::ModelCoefficients getModelCoefficients () const
 returns the models coefficients More...
 
void setModelType (pcl::SacModel model)
 Set the type of SAC model used. More...
 
pcl::SacModel getModelType () const
 Get the type of SAC model used. More...
 
void setThreshold (float thresh)
 Set the thresholdfunction. More...
 
float getThreshold () const
 Get the thresholdfunction. More...
 
void setInputNormals (const PointCloudNConstPtr normals_ptr)
 Set the normals cloud. More...
 
PointCloudNConstPtr getInputNormals () const
 Get the normals cloud. More...
 
void setNormalDistanceWeight (const double weight)
 Set the normals distance weight. More...
 
double getNormalDistanceWeight () const
 get the normal distance weight More...
 
void setThresholdFunction (boost::function< bool(double)> thresh)
 Register a different threshold function. More...
 
template<typename T >
void setThresholdFunction (bool(T::*thresh_function)(double), T &instance)
 Register a different threshold function. More...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
virtual ~FilterIndices ()
 Empty virtual destructor. More...
 
void filter (PointCloud &output)
 
void filter (std::vector< int > &indices)
 Calls the filtering method and returns the filtered point cloud indices. More...
 
void setNegative (bool negative)
 Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...
 
bool getNegative ()
 Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...
 
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. More...
 
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. More...
 
void setUserFilterValue (float value)
 Provide a value that the filtered points should be set to instead of removing them. More...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
virtual ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices ()
 Get the point indices being removed. More...
 
void getRemovedIndices (PointIndices &pi)
 Get the point indices being removed. More...
 
void filter (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

typedef FilterIndices< PointT >
::PointCloud 
PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef SampleConsensusModel
< PointT >::Ptr 
SampleConsensusModelPtr
 

Protected Member Functions

void applyFilter (PointCloud &output)
 Filtered results are stored in a separate point cloud. More...
 
void applyFilter (std::vector< int > &indices)
 Filtered results are indexed by an indices array. More...
 
void applyFilterIndices (std::vector< int > &indices)
 Filtered results are indexed by an indices array. More...
 
bool checkSingleThreshold (double value)
 
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

double normals_distance_weight_
 
PointCloudNConstPtr cloud_normals_
 
SampleConsensusModelPtr model_
 The model used to calculate distances. More...
 
float thresh_
 The threshold used to seperate outliers (removed_indices) from inliers (indices) More...
 
Eigen::VectorXf model_coefficients_
 The model coefficients. More...
 
pcl::SacModel model_type_
 The type of model to use (user given parameter). More...
 
boost::function< bool(double)> threshold_function_
 
- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
 False = normal filter behavior (default), true = inverted behavior. More...
 
bool keep_organized_
 False = remove points (default), true = redefine points, keep structure. More...
 
float user_filter_value_
 The user given value that the filtered point dimensions should be set to (default = NaN). More...
 
- Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
std::string filter_name_
 The filter name. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

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

ModelOutlierRemoval filters points in a cloud based on the distance between model and point.

Iterates through the entire input once, automatically filtering non-finite points and the points outside the model specified by setSampleConsensusModelPointer() and the threshold specified by setThreholdFunctionPointer().

Usage example:

model_coeff.values.resize(4);
model_coeff.values[0] = 0; model_coeff.values[1] = 0; model_coeff.values[2] = 1.5; model_coeff.values[3] = 0.5;
filter.setModelCoefficients (model_coeff);
filter.setThreshold (0.1);
filter.setInputCloud (*cloud_in);
filter.setFilterLimitsNegative (false);
filter.filter (*cloud_out);

Definition at line 69 of file model_outlier_removal.h.

Member Typedef Documentation

template<typename PointT>
typedef FilterIndices<PointT>::PointCloud pcl::ModelOutlierRemoval< PointT >::PointCloud
protected

Definition at line 72 of file model_outlier_removal.h.

template<typename PointT>
typedef PointCloud::ConstPtr pcl::ModelOutlierRemoval< PointT >::PointCloudConstPtr
protected

Definition at line 74 of file model_outlier_removal.h.

Definition at line 79 of file model_outlier_removal.h.

Definition at line 78 of file model_outlier_removal.h.

template<typename PointT>
typedef PointCloud::Ptr pcl::ModelOutlierRemoval< PointT >::PointCloudPtr
protected

Definition at line 73 of file model_outlier_removal.h.

template<typename PointT>
typedef SampleConsensusModel<PointT>::Ptr pcl::ModelOutlierRemoval< PointT >::SampleConsensusModelPtr
protected

Definition at line 75 of file model_outlier_removal.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval ( bool  extract_removed_indices = false)
inline

Constructor.

Parameters
[in]extract_removed_indicesSet to true if you want to be able to extract the indices of points being removed (default = false).

Definition at line 85 of file model_outlier_removal.h.

References pcl::Filter< PointT >::filter_name_, pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_, pcl::ModelOutlierRemoval< PointT >::setThresholdFunction(), and pcl::ModelOutlierRemoval< PointT >::thresh_.

Member Function Documentation

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::applyFilter ( PointCloud output)
protectedvirtual

Filtered results are stored in a separate point cloud.

Parameters
[out]outputThe resultant point cloud.

Implements pcl::FilterIndices< PointT >.

Definition at line 146 of file model_outlier_removal.hpp.

References pcl::copyPointCloud(), pcl::PointCloud< T >::is_dense, and pcl::PointCloud< T >::points.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::applyFilter ( std::vector< int > &  indices)
inlineprotectedvirtual

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 213 of file model_outlier_removal.h.

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

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::applyFilterIndices ( std::vector< int > &  indices)
protected

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Definition at line 171 of file model_outlier_removal.hpp.

References pcl::isFinite().

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

template<typename PointT>
bool pcl::ModelOutlierRemoval< PointT >::checkSingleThreshold ( double  value)
inlineprotected
template<typename PointT>
PointCloudNConstPtr pcl::ModelOutlierRemoval< PointT >::getInputNormals ( ) const
inline

Get the normals cloud.

Definition at line 154 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::cloud_normals_.

template<typename PointT>
pcl::ModelCoefficients pcl::ModelOutlierRemoval< PointT >::getModelCoefficients ( ) const
inline

returns the models coefficients

Definition at line 108 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_coefficients_, and pcl::ModelCoefficients::values.

template<typename PointT>
pcl::SacModel pcl::ModelOutlierRemoval< PointT >::getModelType ( ) const
inline

Get the type of SAC model used.

Definition at line 126 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_type_.

template<typename PointT>
double pcl::ModelOutlierRemoval< PointT >::getNormalDistanceWeight ( ) const
inline

get the normal distance weight

Definition at line 168 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_.

template<typename PointT>
float pcl::ModelOutlierRemoval< PointT >::getThreshold ( ) const
inline

Get the thresholdfunction.

Definition at line 140 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::thresh_.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::setInputNormals ( const PointCloudNConstPtr  normals_ptr)
inline

Set the normals cloud.

Definition at line 147 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::cloud_normals_.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::setModelCoefficients ( const pcl::ModelCoefficients  model_coefficients)
inline

sets the models coefficients

Definition at line 96 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_coefficients_, and pcl::ModelCoefficients::values.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::setModelType ( pcl::SacModel  model)
inline

Set the type of SAC model used.

Definition at line 119 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_type_.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::setNormalDistanceWeight ( const double  weight)
inline

Set the normals distance weight.

Definition at line 161 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::setThreshold ( float  thresh)
inline

Set the thresholdfunction.

Definition at line 133 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::thresh_.

template<typename PointT>
void pcl::ModelOutlierRemoval< PointT >::setThresholdFunction ( boost::function< bool(double)>  thresh)
inline

Register a different threshold function.

Parameters
[in]threshpointer to a threshold function

Definition at line 177 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::threshold_function_.

Referenced by pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), and pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().

template<typename PointT>
template<typename T >
void pcl::ModelOutlierRemoval< PointT >::setThresholdFunction ( bool(T::*)(double)  thresh_function,
T &  instance 
)
inline

Register a different threshold function.

Parameters
[in]thresh_functionpointer to a threshold function
[in]instance

Definition at line 187 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().

Member Data Documentation

template<typename PointT>
PointCloudNConstPtr pcl::ModelOutlierRemoval< PointT >::cloud_normals_
protected
template<typename PointT>
SampleConsensusModelPtr pcl::ModelOutlierRemoval< PointT >::model_
protected

The model used to calculate distances.

Definition at line 229 of file model_outlier_removal.h.

template<typename PointT>
Eigen::VectorXf pcl::ModelOutlierRemoval< PointT >::model_coefficients_
protected
template<typename PointT>
pcl::SacModel pcl::ModelOutlierRemoval< PointT >::model_type_
protected

The type of model to use (user given parameter).

Definition at line 238 of file model_outlier_removal.h.

Referenced by pcl::ModelOutlierRemoval< PointT >::getModelType(), and pcl::ModelOutlierRemoval< PointT >::setModelType().

template<typename PointT>
double pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_
protected
template<typename PointT>
float pcl::ModelOutlierRemoval< PointT >::thresh_
protected
template<typename PointT>
boost::function<bool (double)> pcl::ModelOutlierRemoval< PointT >::threshold_function_
protected

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