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 |
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| RadiusOutlierRemoval (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering. More... |
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| double | getRadiusSearch () |
| Get the sphere radius used for determining the k-nearest neighbors. More... |
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| 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... |
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| 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... |
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 Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 > |
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| FilterIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices. More... |
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| void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| 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... |
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| 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... |
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| void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them. More... |
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| Public Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PCLPointCloud2 &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 > |
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| PCLBase () | |
| Empty constructor. More... |
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| virtual | ~PCLBase ()=default |
| destructor. More... |
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| void | setInputCloud (const PCLPointCloud2ConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PCLPointCloud2ConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| const IndicesPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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Protected Member Functions |
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| void | applyFilter (PCLPointCloud2 &output) override |
| Abstract filter method for point cloud. More... |
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| void | applyFilter (Indices &indices) override |
| Abstract filter method for point cloud indices. More... |
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| Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 > |
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| bool | initCompute () |
| bool | deinitCompute () |
Protected Attributes |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| 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... |
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| KdTreePtr | searcher_ |
| A pointer to the spatial search object. More... |
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| Protected Attributes inherited from pcl::FilterIndices< pcl::PCLPointCloud2 > |
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| bool | negative_ |
| False = normal filter behavior (default), true = inverted behavior. More... |
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| bool | keep_organized_ |
| False = remove points (default), true = redefine points, keep structure. More... |
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| float | user_filter_value_ |
| The user given value that the filtered point dimensions should be set to (default = NaN). More... |
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| Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 > |
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| PCLPointCloud2ConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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| std::vector< uindex_t > | field_sizes_ |
| The size of each individual field. More... |
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| index_t | x_idx_ |
| The x-y-z fields indices. More... |
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| index_t | y_idx_ |
| index_t | z_idx_ |
| std::string | x_field_name_ |
| The desired x-y-z field names. More... |
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| std::string | y_field_name_ |
| std::string | z_field_name_ |
Additional Inherited Members |
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| Public Types inherited from pcl::FilterIndices< pcl::PCLPointCloud2 > |
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| using | PCLPointCloud2 = pcl::PCLPointCloud2 |
| Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 > |
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| 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 > |
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| using | PCLPointCloud2 = pcl::PCLPointCloud2 |
| using | PCLPointCloud2Ptr = PCLPointCloud2::Ptr |
| using | PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Detailed Description
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 185 of file radius_outlier_removal.h.
Constructor & Destructor Documentation
RadiusOutlierRemoval()
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inline |
Empty constructor.
Definition at line 202 of file radius_outlier_removal.h.
Member Function Documentation
applyFilter() [1/2]
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overrideprotectedvirtual |
Abstract filter method for point cloud indices.
Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.
applyFilter() [2/2]
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overrideprotectedvirtual |
Abstract filter method for point cloud.
Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.
getMinNeighborsInRadius()
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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 239 of file radius_outlier_removal.h.
getRadiusSearch()
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inline |
Get the sphere radius used for determining the k-nearest neighbors.
Definition at line 220 of file radius_outlier_removal.h.
setMinNeighborsInRadius()
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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
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min_pts the minimum number of neighbors
Definition at line 230 of file radius_outlier_removal.h.
setRadiusSearch()
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inline |
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.
- Parameters
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radius the sphere radius that is to contain all k-nearest neighbors
Definition at line 213 of file radius_outlier_removal.h.
Member Data Documentation
min_pts_radius_
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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 251 of file radius_outlier_removal.h.
search_radius_
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protected |
The nearest neighbors search radius for each point.
Definition at line 246 of file radius_outlier_removal.h.
searcher_
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protected |
A pointer to the spatial search object.
Definition at line 254 of file radius_outlier_removal.h.
The documentation for this class was generated from the following file:
- pcl/filters/radius_outlier_removal.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_radius_outlier_removal_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html
