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

Protected Member Functions
void	applyFilter (PCLPointCloud2 &output)
	Abstract filter method.
Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
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.
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.
KdTreePtr	tree_
	A pointer to the spatial search object.
Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr	removed_indices_
	Indices of the points that are removed.
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
std::string	filter_name_
	The filter name.
Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
std::vector< int >	field_sizes_
	The size of each individual field.
int	x_idx_
	The x-y-z fields indices.
int	y_idx_
int	z_idx_
std::string	x_field_name_
	The desired x-y-z field names.
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

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] output the 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_pts the 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

radius the 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:

/tmp/buildd/pcl-1.7.2/filters/include/pcl/filters/radius_outlier_removal.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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