Point Cloud Library (PCL)
1.7.0
|
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have. More...
#include <pcl/filters/radius_outlier_removal.h>
Public Types | |
typedef boost::shared_ptr < RadiusOutlierRemoval< PointT > > | Ptr |
typedef boost::shared_ptr < const RadiusOutlierRemoval < PointT > > | ConstPtr |
Public Member Functions | |
RadiusOutlierRemoval (bool extract_removed_indices=false) | |
Constructor. | |
void | setRadiusSearch (double radius) |
Set the radius of the sphere that will determine which points are neighbors. | |
double | getRadiusSearch () |
Get the radius of the sphere that will determine which points are neighbors. | |
void | setMinNeighborsInRadius (int min_pts) |
Set the number of neighbors that need to be present in order to be classified as an inlier. | |
int | getMinNeighborsInRadius () |
Get the number of neighbors that need to be present in order to be classified as an inlier. | |
Protected Types | |
typedef FilterIndices< PointT > ::PointCloud | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef pcl::search::Search < PointT >::Ptr | SearcherPtr |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Filtered results are stored in a separate point cloud. | |
void | applyFilter (std::vector< int > &indices) |
Filtered results are indexed by an indices array. | |
void | applyFilterIndices (std::vector< int > &indices) |
Filtered results are indexed by an indices array. |
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have.
Iterates through the entire input once, and for each point, retrieves the number of neighbors within a certain radius. The point will be considered an outlier if it has too few neighbors, as determined by setMinNeighborsInRadius(). The radius can be changed using setRadiusSearch().
The neighbors found for each query point will be found amongst ALL points of setInputCloud(), not just those indexed by setIndices(). The setIndices() method only indexes the points that will be iterated through as search query points.
Usage example:
pcl::RadiusOutlierRemoval<PointType> rorfilter (true); // Initializing with true will allow us to extract the removed indices rorfilter.setInputCloud (cloud_in); rorfilter.setRadiusSearch (0.1); rorfilter.setMinNeighborsInRadius (5); rorfilter.setNegative (true); rorfilter.filter (*cloud_out); // The resulting cloud_out contains all points of cloud_in that have 4 or less neighbors within the 0.1 search radius indices_rem = rorfilter.getRemovedIndices (); // The indices_rem array indexes all points of cloud_in that have 5 or more neighbors within the 0.1 search radius
Definition at line 72 of file radius_outlier_removal.h.
typedef boost::shared_ptr< const RadiusOutlierRemoval<PointT> > pcl::RadiusOutlierRemoval< PointT >::ConstPtr |
Reimplemented from pcl::FilterIndices< PointT >.
Definition at line 83 of file radius_outlier_removal.h.
typedef FilterIndices<PointT>::PointCloud pcl::RadiusOutlierRemoval< PointT >::PointCloud [protected] |
Reimplemented from pcl::FilterIndices< PointT >.
Definition at line 75 of file radius_outlier_removal.h.
typedef PointCloud::ConstPtr pcl::RadiusOutlierRemoval< PointT >::PointCloudConstPtr [protected] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 77 of file radius_outlier_removal.h.
typedef PointCloud::Ptr pcl::RadiusOutlierRemoval< PointT >::PointCloudPtr [protected] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 76 of file radius_outlier_removal.h.
typedef boost::shared_ptr< RadiusOutlierRemoval<PointT> > pcl::RadiusOutlierRemoval< PointT >::Ptr |
Reimplemented from pcl::FilterIndices< PointT >.
Definition at line 82 of file radius_outlier_removal.h.
typedef pcl::search::Search<PointT>::Ptr pcl::RadiusOutlierRemoval< PointT >::SearcherPtr [protected] |
Definition at line 78 of file radius_outlier_removal.h.
pcl::RadiusOutlierRemoval< PointT >::RadiusOutlierRemoval | ( | bool | extract_removed_indices = false | ) | [inline] |
Constructor.
[in] | extract_removed_indices | Set to true if you want to be able to extract the indices of points being removed (default = false). |
Definition at line 89 of file radius_outlier_removal.h.
References pcl::Filter< PointT >::filter_name_.
void pcl::RadiusOutlierRemoval< PointT >::applyFilter | ( | PointCloud & | output | ) | [protected, virtual] |
Filtered results are stored in a separate point cloud.
[out] | output | The resultant point cloud. |
Implements pcl::Filter< PointT >.
Definition at line 48 of file radius_outlier_removal.hpp.
References pcl::copyPointCloud(), pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::points.
void pcl::RadiusOutlierRemoval< PointT >::applyFilter | ( | std::vector< int > & | indices | ) | [inline, protected, virtual] |
Filtered results are indexed by an indices array.
[out] | indices | The resultant indices. |
Implements pcl::FilterIndices< PointT >.
Definition at line 163 of file radius_outlier_removal.h.
References pcl::RadiusOutlierRemoval< PointT >::applyFilterIndices().
void pcl::RadiusOutlierRemoval< PointT >::applyFilterIndices | ( | std::vector< int > & | indices | ) | [protected] |
Filtered results are indexed by an indices array.
[out] | indices | The resultant indices. |
Definition at line 73 of file radius_outlier_removal.hpp.
Referenced by pcl::RadiusOutlierRemoval< PointT >::applyFilter().
int pcl::RadiusOutlierRemoval< PointT >::getMinNeighborsInRadius | ( | ) | [inline] |
Get the number of neighbors that need to be present in order to be classified as an inlier.
The number of points within setRadiusSearch() from the query point will need to be equal or greater than this number in order to be classified as an inlier point (i.e. will not be filtered).
min_pts | The minimum number of neighbors (default = 1). |
Definition at line 137 of file radius_outlier_removal.h.
double pcl::RadiusOutlierRemoval< PointT >::getRadiusSearch | ( | ) | [inline] |
Get the radius of the sphere that will determine which points are neighbors.
The number of points within this distance from the query point will need to be equal or greater than setMinNeighborsInRadius() in order to be classified as an inlier point (i.e. will not be filtered).
Definition at line 115 of file radius_outlier_removal.h.
void pcl::RadiusOutlierRemoval< PointT >::setMinNeighborsInRadius | ( | int | min_pts | ) | [inline] |
Set the number of neighbors that need to be present in order to be classified as an inlier.
The number of points within setRadiusSearch() from the query point will need to be equal or greater than this number in order to be classified as an inlier point (i.e. will not be filtered).
min_pts | The minimum number of neighbors (default = 1). |
Definition at line 126 of file radius_outlier_removal.h.
void pcl::RadiusOutlierRemoval< PointT >::setRadiusSearch | ( | double | radius | ) | [inline] |
Set the radius of the sphere that will determine which points are neighbors.
The number of points within this distance from the query point will need to be equal or greater than setMinNeighborsInRadius() in order to be classified as an inlier point (i.e. will not be filtered).
[in] | radius | The radius of the sphere for nearest neighbor searching. |
Definition at line 104 of file radius_outlier_removal.h.