Point Cloud Library (PCL)
1.7.2
|
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>
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... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
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 | |
![]() | |
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 |
![]() | |
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 |
RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K.
Definition at line 193 of file radius_outlier_removal.h.
|
inline |
Empty constructor.
Definition at line 210 of file radius_outlier_removal.h.
|
protectedvirtual |
Abstract filter method.
The implementation needs to set output.{data, row_step, point_step, width, height, is_dense}.
[out] | output | the resultant filtered point cloud |
Implements pcl::Filter< pcl::PCLPointCloud2 >.
|
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.
|
inline |
Get the sphere radius used for determining the k-nearest neighbors.
Definition at line 228 of file radius_outlier_removal.h.
|
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).
min_pts | the minimum number of neighbors |
Definition at line 238 of file radius_outlier_removal.h.
|
inline |
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.
radius | the sphere radius that is to contain all k-nearest neighbors |
Definition at line 221 of file radius_outlier_removal.h.
|
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.
|
protected |
The nearest neighbors search radius for each point.
Definition at line 254 of file radius_outlier_removal.h.
|
protected |
A pointer to the spatial search object.
Definition at line 262 of file radius_outlier_removal.h.