Point Cloud Library (PCL)  1.8.1-dev
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 > Class Template Reference

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

#include <pcl/filters/statistical_outlier_removal.h>

+ Inheritance diagram for pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >:

Public Member Functions

 StatisticalOutlierRemoval (bool extract_removed_indices=false)
 Empty constructor. More...
 
void setMeanK (int nr_k)
 Set the number of points (k) to use for mean distance estimation. More...
 
int getMeanK ()
 Get the number of points to use for mean distance estimation. More...
 
void setStddevMulThresh (double std_mul)
 Set the standard deviation multiplier threshold. More...
 
double getStddevMulThresh ()
 Get the standard deviation multiplier threshold as set by the user. More...
 
- Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
virtual ~FilterIndices ()
 Empty virtual destructor. More...
 
virtual void filter (PCLPointCloud2 &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< pcl::PCLPointCloud2 >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
virtual ~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 (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 () 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

virtual void applyFilter (std::vector< int > &indices)
 Abstract filter method for point cloud indices. More...
 
virtual void applyFilter (PCLPointCloud2 &output)
 Abstract filter method for point cloud. More...
 
virtual void generateStatistics (double &mean, double &variance, double &stddev, std::vector< float > &distances)
 Compute the statistical values used in both applyFilter methods. 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

int mean_k_
 The number of points to use for mean distance estimation. More...
 
double std_mul_
 Standard deviations threshold (i.e., points outside of $ \mu \pm \sigma \cdot std\_mul $ will be marked as outliers). More...
 
KdTreePtr tree_
 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 >
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
- 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::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >

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 201 of file statistical_outlier_removal.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 218 of file statistical_outlier_removal.h.

Member Function Documentation

virtual void pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( std::vector< int > &  indices)
protectedvirtual

Abstract filter method for point cloud indices.

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

virtual void pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 output)
protectedvirtual

Abstract filter method for point cloud.

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

virtual void pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::generateStatistics ( double &  mean,
double &  variance,
double &  stddev,
std::vector< float > &  distances 
)
protectedvirtual

Compute the statistical values used in both applyFilter methods.

This method tries to avoid duplicate code.

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

Definition at line 236 of file statistical_outlier_removal.h.

double pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::getStddevMulThresh ( )
inline

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

Definition at line 255 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::setMeanK ( int  nr_k)
inline

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

Parameters
nr_kthe number of points to use for mean distance estimation

Definition at line 229 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::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_multhe standard deviation multiplier threshold

Definition at line 248 of file statistical_outlier_removal.h.

Member Data Documentation

The number of points to use for mean distance estimation.

Definition at line 262 of file statistical_outlier_removal.h.

double pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >::std_mul_
protected

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

Definition at line 267 of file statistical_outlier_removal.h.

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

A pointer to the spatial search object.

Definition at line 270 of file statistical_outlier_removal.h.


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