40 #ifndef PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
41 #define PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
43 #include <pcl/filters/filter_indices.h>
44 #include <pcl/search/pcl_search.h>
71 template<
typename Po
intT>
82 typedef boost::shared_ptr< RadiusOutlierRemoval<PointT> >
Ptr;
83 typedef boost::shared_ptr< const RadiusOutlierRemoval<PointT> >
ConstPtr;
106 search_radius_ = radius;
117 return (search_radius_);
128 min_pts_radius_ = min_pts;
139 return (min_pts_radius_);
179 double search_radius_;
212 search_radius_ (0.0), min_pts_radius_ (1), tree_ ()
214 filter_name_ =
"RadiusOutlierRemoval";
223 search_radius_ = radius;
230 return (search_radius_);
240 min_pts_radius_ = min_pts;
249 return (min_pts_radius_);
269 #ifdef PCL_NO_PRECOMPILE
270 #include <pcl/filters/impl/radius_outlier_removal.hpp>
273 #endif // PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
FilterIndices< PointT >::PointCloud PointCloud
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering...
double search_radius_
The nearest neighbors search radius for each point.
double getRadiusSearch()
Get the radius of the sphere that will determine which points are neighbors.
boost::shared_ptr< ::pcl::PCLPointCloud2 > Ptr
PointCloud::ConstPtr PointCloudConstPtr
boost::shared_ptr< RadiusOutlierRemoval< PointT > > Ptr
void setMinNeighborsInRadius(int min_pts)
Set the number of neighbors that need to be present in order to be classified as an inlier...
std::string filter_name_
The filter name.
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have...
Filter represents the base filter class.
double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
boost::shared_ptr< ::pcl::PCLPointCloud2 const > PCLPointCloud2ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
int getMinNeighborsInRadius()
Get the number of neighbors that need to be present in order to be classified as an inlier...
int min_pts_radius_
The minimum number of neighbors that a point needs to have in the given search radius to be considere...
boost::shared_ptr< const RadiusOutlierRemoval< PointT > > ConstPtr
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...
void setRadiusSearch(double radius)
Set the radius of the sphere that will determine which points are neighbors.
FilterIndices represents the base class for filters that are about binary point removal.
PointCloud::Ptr PointCloudPtr
pcl::search::Search< PointT >::Ptr SearcherPtr
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
boost::shared_ptr< ::pcl::PCLPointCloud2 > PCLPointCloud2Ptr
void applyFilter(PointCloud &output)
Filtered results are stored in a separate point cloud.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
KdTreePtr tree_
A pointer to the spatial search object.
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.
void applyFilter(std::vector< int > &indices)
Filtered results are indexed by an indices array.
RadiusOutlierRemoval(bool extract_removed_indices=false)
Constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
double getMinNeighborsInRadius()
Get the minimum number of neighbors that a point needs to have in the given search radius to be consi...