Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Member Functions
pcl::RadiusOutlierRemoval< PointT > Class Template Reference

RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have. More...

#include <pcl/filters/radius_outlier_removal.h>

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

Public Types

using Ptr = boost::shared_ptr< RadiusOutlierRemoval< PointT > >
 
using ConstPtr = boost::shared_ptr< const RadiusOutlierRemoval< PointT > >
 
- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using Ptr = boost::shared_ptr< FilterIndices< PointT > >
 
using ConstPtr = boost::shared_ptr< const FilterIndices< PointT > >
 
- Public Types inherited from pcl::Filter< PointT >
using Ptr = boost::shared_ptr< Filter< PointT > >
 
using ConstPtr = boost::shared_ptr< const Filter< PointT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

Public Member Functions

 RadiusOutlierRemoval (bool extract_removed_indices=false)
 Constructor. More...
 
void setRadiusSearch (double radius)
 Set the radius of the sphere that will determine which points are neighbors. More...
 
double getRadiusSearch ()
 Get the radius of the sphere that will determine which points are neighbors. More...
 
void setMinNeighborsInRadius (int min_pts)
 Set the number of neighbors that need to be present in order to be classified as an inlier. More...
 
int getMinNeighborsInRadius ()
 Get the number of neighbors that need to be present in order to be classified as an inlier. More...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
 ~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 () const
 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 () const
 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...
 
 ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices () const
 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::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[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

using PointCloud = typename FilterIndices< PointT >::PointCloud
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using SearcherPtr = typename pcl::search::Search< PointT >::Ptr
 

Protected Member Functions

void applyFilter (PointCloud &output) override
 Filtered results are stored in a separate point cloud. More...
 
void applyFilter (std::vector< int > &indices) override
 Filtered results are indexed by an indices array. More...
 
void applyFilterIndices (std::vector< int > &indices)
 Filtered results are indexed by an indices array. More...
 
- 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...
 

Additional Inherited Members

- 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::RadiusOutlierRemoval< PointT >

RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have.

Iterates through the entire input once, and for each point, retrieves the number of neighbors within a certain radius. The point will be considered an outlier if it has too few neighbors, as determined by setMinNeighborsInRadius(). The radius can be changed using setRadiusSearch().
The neighbors found for each query point will be found amongst ALL points of setInputCloud(), not just those indexed by setIndices(). The setIndices() method only indexes the points that will be iterated through as search query points.

Usage example:

pcl::RadiusOutlierRemoval<PointType> rorfilter (true); // Initializing with true will allow us to extract the removed indices
rorfilter.setInputCloud (cloud_in);
rorfilter.setRadiusSearch (0.1);
rorfilter.setMinNeighborsInRadius (5);
rorfilter.setNegative (true);
rorfilter.filter (*cloud_out);
// The resulting cloud_out contains all points of cloud_in that have 4 or less neighbors within the 0.1 search radius
indices_rem = rorfilter.getRemovedIndices ();
// The indices_rem array indexes all points of cloud_in that have 5 or more neighbors within the 0.1 search radius
Author
Radu Bogdan Rusu

Definition at line 71 of file radius_outlier_removal.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT>
using pcl::RadiusOutlierRemoval< PointT >::ConstPtr = boost::shared_ptr<const RadiusOutlierRemoval<PointT> >

Definition at line 82 of file radius_outlier_removal.h.

◆ PointCloud

template<typename PointT>
using pcl::RadiusOutlierRemoval< PointT >::PointCloud = typename FilterIndices<PointT>::PointCloud
protected

Definition at line 74 of file radius_outlier_removal.h.

◆ PointCloudConstPtr

template<typename PointT>
using pcl::RadiusOutlierRemoval< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr
protected

Definition at line 76 of file radius_outlier_removal.h.

◆ PointCloudPtr

template<typename PointT>
using pcl::RadiusOutlierRemoval< PointT >::PointCloudPtr = typename PointCloud::Ptr
protected

Definition at line 75 of file radius_outlier_removal.h.

◆ Ptr

template<typename PointT>
using pcl::RadiusOutlierRemoval< PointT >::Ptr = boost::shared_ptr<RadiusOutlierRemoval<PointT> >

Definition at line 81 of file radius_outlier_removal.h.

◆ SearcherPtr

template<typename PointT>
using pcl::RadiusOutlierRemoval< PointT >::SearcherPtr = typename pcl::search::Search<PointT>::Ptr
protected

Definition at line 77 of file radius_outlier_removal.h.

Constructor & Destructor Documentation

◆ RadiusOutlierRemoval()

template<typename PointT>
pcl::RadiusOutlierRemoval< PointT >::RadiusOutlierRemoval ( 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 88 of file radius_outlier_removal.h.

References pcl::Filter< PointT >::filter_name_.

Member Function Documentation

◆ applyFilter() [1/2]

template<typename PointT >
void pcl::RadiusOutlierRemoval< PointT >::applyFilter ( PointCloud output)
overrideprotectedvirtual

Filtered results are stored in a separate point cloud.

Parameters
[out]outputThe resultant point cloud.

Implements pcl::FilterIndices< PointT >.

Definition at line 48 of file radius_outlier_removal.hpp.

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

Referenced by pcl::RadiusOutlierRemoval< PointT >::getMinNeighborsInRadius().

◆ applyFilter() [2/2]

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

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 162 of file radius_outlier_removal.h.

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

◆ applyFilterIndices()

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

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Definition at line 73 of file radius_outlier_removal.hpp.

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

◆ getMinNeighborsInRadius()

template<typename PointT>
int pcl::RadiusOutlierRemoval< PointT >::getMinNeighborsInRadius ( )
inline

Get the number of neighbors that need to be present in order to be classified as an inlier.

The number of points within setRadiusSearch() from the query point will need to be equal or greater than this number in order to be classified as an inlier point (i.e. will not be filtered).

Returns
The minimum number of neighbors (default = 1).

Definition at line 136 of file radius_outlier_removal.h.

References pcl::RadiusOutlierRemoval< PointT >::applyFilter().

◆ getRadiusSearch()

template<typename PointT>
double pcl::RadiusOutlierRemoval< PointT >::getRadiusSearch ( )
inline

Get the radius of the sphere that will determine which points are neighbors.

The number of points within this distance from the query point will need to be equal or greater than setMinNeighborsInRadius() in order to be classified as an inlier point (i.e. will not be filtered).

Returns
The radius of the sphere for nearest neighbor searching.

Definition at line 114 of file radius_outlier_removal.h.

◆ setMinNeighborsInRadius()

template<typename PointT>
void pcl::RadiusOutlierRemoval< PointT >::setMinNeighborsInRadius ( int  min_pts)
inline

Set the number of neighbors that need to be present in order to be classified as an inlier.

The number of points within setRadiusSearch() from the query point will need to be equal or greater than this number in order to be classified as an inlier point (i.e. will not be filtered).

Parameters
min_ptsThe minimum number of neighbors (default = 1).

Definition at line 125 of file radius_outlier_removal.h.

◆ setRadiusSearch()

template<typename PointT>
void pcl::RadiusOutlierRemoval< PointT >::setRadiusSearch ( double  radius)
inline

Set the radius of the sphere that will determine which points are neighbors.

The number of points within this distance from the query point will need to be equal or greater than setMinNeighborsInRadius() in order to be classified as an inlier point (i.e. will not be filtered).

Parameters
[in]radiusThe radius of the sphere for nearest neighbor searching.

Definition at line 103 of file radius_outlier_removal.h.


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