Point Cloud Library (PCL)
1.7.0
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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 |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef boost::shared_ptr < FilterIndices< PointT > > | Ptr |
typedef boost::shared_ptr < const FilterIndices< PointT > > | ConstPtr |
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typedef boost::shared_ptr < Filter< PointT > > | Ptr |
typedef boost::shared_ptr < const Filter< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
RadiusOutlierRemoval (bool extract_removed_indices=false) | |
Constructor. More... | |
void | setRadiusSearch (double radius) |
Set the radius of the sphere that will determine which points are neighbors. More... | |
double | getRadiusSearch () |
Get the radius of the sphere that will determine which points are neighbors. More... | |
void | setMinNeighborsInRadius (int min_pts) |
Set the number of neighbors that need to be present in order to be classified as an inlier. More... | |
int | getMinNeighborsInRadius () |
Get the number of neighbors that need to be present in order to be classified as an inlier. More... | |
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FilterIndices (bool extract_removed_indices=false) | |
Constructor. More... | |
virtual | ~FilterIndices () |
Empty virtual destructor. More... | |
void | filter (PointCloud &output) |
void | filter (std::vector< int > &indices) |
Calls the filtering method and returns the filtered point cloud indices. More... | |
void | setNegative (bool negative) |
Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... | |
bool | getNegative () |
Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... | |
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... | |
bool | getKeepOrganized () |
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... | |
void | setUserFilterValue (float value) |
Provide a value that the filtered points should be set to instead of removing them. More... | |
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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 (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
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. More... | |
void | applyFilter (std::vector< int > &indices) |
Filtered results are indexed by an indices array. More... | |
void | applyFilterIndices (std::vector< int > &indices) |
Filtered results are indexed by an indices array. More... | |
Additional Inherited Members | |
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bool | negative_ |
False = normal filter behavior (default), true = inverted behavior. More... | |
bool | keep_organized_ |
False = remove points (default), true = redefine points, keep structure. More... | |
float | user_filter_value_ |
The user given value that the filtered point dimensions should be set to (default = NaN). More... | |
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:
Definition at line 72 of file radius_outlier_removal.h.
typedef boost::shared_ptr< const RadiusOutlierRemoval<PointT> > pcl::RadiusOutlierRemoval< PointT >::ConstPtr |
Definition at line 83 of file radius_outlier_removal.h.
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Definition at line 75 of file radius_outlier_removal.h.
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Definition at line 77 of file radius_outlier_removal.h.
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Definition at line 76 of file radius_outlier_removal.h.
typedef boost::shared_ptr< RadiusOutlierRemoval<PointT> > pcl::RadiusOutlierRemoval< PointT >::Ptr |
Definition at line 82 of file radius_outlier_removal.h.
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Definition at line 78 of file radius_outlier_removal.h.
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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_.
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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< T >::is_dense, and pcl::PointCloud< T >::points.
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inlineprotectedvirtual |
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().
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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().
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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.
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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.
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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.
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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.