Point Cloud Library (PCL)  1.10.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 > Class Template Reference

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< pcl::PCLPointCloud2 >:

Public Member Functions

 RadiusOutlierRemoval (bool extract_removed_indices=false)
 Empty constructor. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering. More...
 
double getRadiusSearch ()
 Get the sphere radius used for determining the k-nearest neighbors. More...
 
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). More...
 
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. More...
 
- Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
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< pcl::PCLPointCloud2 >
 Filter (bool extract_removed_indices=false)
 Empty constructor. 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 (PCLPointCloud2 &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
 PCLBase ()
 Empty constructor. More...
 
virtual ~PCLBase ()=default
 destructor. More...
 
void setInputCloud (const PCLPointCloud2ConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PCLPointCloud2ConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
IndicesPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 

Protected Member Functions

void applyFilter (PCLPointCloud2 &output) override
 Abstract filter method for point cloud. More...
 
void applyFilter (std::vector< int > &indices) override
 Abstract filter method for point cloud indices. More...
 
- Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool initCompute ()
 
bool deinitCompute ()
 

Protected Attributes

double search_radius_
 The nearest neighbors search radius for each point. More...
 
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. More...
 
KdTreePtr searcher_
 A pointer to the spatial search object. More...
 
- Protected Attributes inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
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< pcl::PCLPointCloud2 >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
std::string filter_name_
 The filter name. More...
 
- Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr 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...
 
std::vector< int > field_sizes_
 The size of each individual field. More...
 
int x_idx_
 The x-y-z fields indices. More...
 
int y_idx_
 
int z_idx_
 
std::string x_field_name_
 The desired x-y-z field names. More...
 
std::string y_field_name_
 
std::string z_field_name_
 

Additional Inherited Members

- Public Types inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
using PCLPointCloud2 = pcl::PCLPointCloud2
 
- Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
using Ptr = shared_ptr< Filter< pcl::PCLPointCloud2 > >
 
using ConstPtr = shared_ptr< const Filter< pcl::PCLPointCloud2 > >
 
using PCLPointCloud2 = pcl::PCLPointCloud2
 
using PCLPointCloud2Ptr = PCLPointCloud2::Ptr
 
using PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr
 
- Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
using PCLPointCloud2 = pcl::PCLPointCloud2
 
using PCLPointCloud2Ptr = PCLPointCloud2::Ptr
 
using PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Detailed Description

template<>
class pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >

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 186 of file radius_outlier_removal.h.

Constructor & Destructor Documentation

◆ RadiusOutlierRemoval()

pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::RadiusOutlierRemoval ( bool  extract_removed_indices = false)
inline

Empty constructor.

Definition at line 203 of file radius_outlier_removal.h.

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

Member Function Documentation

◆ applyFilter() [1/2]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 output)
overrideprotectedvirtual

Abstract filter method for point cloud.

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ applyFilter() [2/2]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( std::vector< int > &  indices)
overrideprotectedvirtual

Abstract filter method for point cloud indices.

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ getMinNeighborsInRadius()

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::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 240 of file radius_outlier_removal.h.

◆ getRadiusSearch()

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::getRadiusSearch ( )
inline

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

Definition at line 221 of file radius_outlier_removal.h.

◆ setMinNeighborsInRadius()

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::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_ptsthe minimum number of neighbors

Definition at line 231 of file radius_outlier_removal.h.

◆ setRadiusSearch()

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setRadiusSearch ( double  radius)
inline

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

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

Definition at line 214 of file radius_outlier_removal.h.

Member Data Documentation

◆ min_pts_radius_

int pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::min_pts_radius_
protected

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

Definition at line 252 of file radius_outlier_removal.h.

◆ search_radius_

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::search_radius_
protected

The nearest neighbors search radius for each point.

Definition at line 247 of file radius_outlier_removal.h.

◆ searcher_

KdTreePtr pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::searcher_
protected

A pointer to the spatial search object.

Definition at line 255 of file radius_outlier_removal.h.


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