Point Cloud Library (PCL)  1.8.1-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::Filter< pcl::PCLPointCloud2 >
 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 (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 ()
 destructor. More...
 
void setInputCloud (const PCLPointCloud2ConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PCLPointCloud2ConstPtr const getInputCloud ()
 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 ()
 Get a pointer to the vector of indices used. More...
 

Protected Member Functions

void applyFilter (PCLPointCloud2 &output)
 Abstract filter method. 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 tree_
 A pointer to the spatial search object. 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::Filter< pcl::PCLPointCloud2 >
typedef boost::shared_ptr
< Filter< pcl::PCLPointCloud2 > > 
Ptr
 
typedef boost::shared_ptr
< const Filter
< pcl::PCLPointCloud2 > > 
ConstPtr
 
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr
 
typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
 
- Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
typedef boost::shared_ptr
< PCLPointCloud2
PCLPointCloud2Ptr
 
typedef boost::shared_ptr
< PCLPointCloud2 const > 
PCLPointCloud2ConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

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 193 of file radius_outlier_removal.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 210 of file radius_outlier_removal.h.

Member Function Documentation

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

Abstract filter method.

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

Parameters
[out]outputthe resultant filtered point cloud

Implements pcl::Filter< pcl::PCLPointCloud2 >.

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 247 of file radius_outlier_removal.h.

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

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

Definition at line 228 of file radius_outlier_removal.h.

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 238 of file radius_outlier_removal.h.

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 221 of file radius_outlier_removal.h.

Member Data Documentation

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 259 of file radius_outlier_removal.h.

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

The nearest neighbors search radius for each point.

Definition at line 254 of file radius_outlier_removal.h.

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

A pointer to the spatial search object.

Definition at line 262 of file radius_outlier_removal.h.


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