StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. More...
#include <pcl/filters/statistical_outlier_removal.h>
Public Member Functions |
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StatisticalOutlierRemoval (bool extract_removed_indices=false) | |
Empty constructor. More... |
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void | setMeanK (int nr_k) |
Set the number of points (k) to use for mean distance estimation. More... |
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int | getMeanK () |
Get the number of points to use for mean distance estimation. More... |
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void | setStddevMulThresh (double std_mul) |
Set the standard deviation multiplier threshold. More... |
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double | getStddevMulThresh () |
Get the standard deviation multiplier threshold as set by the user. More... |
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Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 > | |
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 > | |
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 > | |
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 (Indices &indices) override |
Abstract filter method for point cloud indices. More... |
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void | applyFilter (PCLPointCloud2 &output) override |
Abstract filter method for point cloud. More... |
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virtual void | generateStatistics (double &mean, double &variance, double &stddev, std::vector< float > &distances) |
Compute the statistical values used in both applyFilter methods. More... |
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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... |
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Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 > | |
bool | initCompute () |
bool | deinitCompute () |
Protected Attributes |
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int | mean_k_ |
The number of points to use for mean distance estimation. More... |
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double | std_mul_ |
Standard deviations threshold (i.e., points outside of will be marked as outliers). More... |
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KdTreePtr | tree_ |
A pointer to the spatial search object. More... |
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Protected Attributes inherited from pcl::FilterIndices< pcl::PCLPointCloud2 > | |
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 > | |
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 > | |
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 > | |
using | PCLPointCloud2 = pcl::PCLPointCloud2 |
Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 > | |
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 > | |
using | PCLPointCloud2 = pcl::PCLPointCloud2 |
using | PCLPointCloud2Ptr = PCLPointCloud2::Ptr |
using | PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr |
using | PointIndicesPtr = PointIndices::Ptr |
using | PointIndicesConstPtr = PointIndices::ConstPtr |
Detailed Description
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.
For more information check:
- R. B. Rusu, Z. C. Marton, N. Blodow, M. Dolha, and M. Beetz. Towards 3D Point Cloud Based Object Maps for Household Environments Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge), 2008.
Definition at line 193 of file statistical_outlier_removal.h.
Constructor & Destructor Documentation
StatisticalOutlierRemoval()
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inline |
Empty constructor.
Definition at line 210 of file statistical_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 >.
generateStatistics()
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protectedvirtual |
Compute the statistical values used in both applyFilter methods.
This method tries to avoid duplicate code.
getMeanK()
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inline |
Get the number of points to use for mean distance estimation.
Definition at line 228 of file statistical_outlier_removal.h.
getStddevMulThresh()
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inline |
Get the standard deviation multiplier threshold as set by the user.
Definition at line 247 of file statistical_outlier_removal.h.
setMeanK()
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inline |
Set the number of points (k) to use for mean distance estimation.
- Parameters
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nr_k the number of points to use for mean distance estimation
Definition at line 221 of file statistical_outlier_removal.h.
setStddevMulThresh()
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inline |
Set the standard deviation multiplier threshold.
All points outside the
will be considered outliers, where is the estimated mean, and is the standard deviation.
- Parameters
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std_mul the standard deviation multiplier threshold
Definition at line 240 of file statistical_outlier_removal.h.
Member Data Documentation
mean_k_
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The number of points to use for mean distance estimation.
Definition at line 254 of file statistical_outlier_removal.h.
std_mul_
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Standard deviations threshold (i.e., points outside of will be marked as outliers).
Definition at line 259 of file statistical_outlier_removal.h.
tree_
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A pointer to the spatial search object.
Definition at line 262 of file statistical_outlier_removal.h.
The documentation for this class was generated from the following file:
- pcl/filters/statistical_outlier_removal.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_statistical_outlier_removal_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html