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 <radius_outlier_removal.h>
Public Member Functions | |
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. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the k-nearest neighbors. | |
RadiusOutlierRemoval () | |
Empty constructor. | |
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). | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering. | |
Protected Member Functions | |
void | applyFilter (PointCloud2 &output) |
Abstract filter method. | |
Protected Attributes | |
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. | |
double | search_radius_ |
The nearest neighbors search radius for each point. | |
KdTreePtr | tree_ |
A pointer to the spatial search object. | |
Private Types | |
typedef pcl::KdTree < pcl::PointXYZ > | KdTree |
typedef pcl::KdTree < pcl::PointXYZ >::Ptr | KdTreePtr |
typedef sensor_msgs::PointCloud2 | PointCloud2 |
typedef PointCloud2::ConstPtr | PointCloud2ConstPtr |
typedef PointCloud2::Ptr | PointCloud2Ptr |
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 127 of file radius_outlier_removal.h.
typedef pcl::KdTree<pcl::PointXYZ> pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::KdTree [private] |
Definition at line 132 of file radius_outlier_removal.h.
typedef pcl::KdTree<pcl::PointXYZ>::Ptr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::KdTreePtr [private] |
Definition at line 133 of file radius_outlier_removal.h.
typedef sensor_msgs::PointCloud2 pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::PointCloud2 [private] |
Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 135 of file radius_outlier_removal.h.
typedef PointCloud2::ConstPtr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::PointCloud2ConstPtr [private] |
Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 137 of file radius_outlier_removal.h.
typedef PointCloud2::Ptr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::PointCloud2Ptr [private] |
Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 136 of file radius_outlier_removal.h.
pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::RadiusOutlierRemoval | ( | ) | [inline] |
Empty constructor.
Definition at line 142 of file radius_outlier_removal.h.
void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::applyFilter | ( | PointCloud2 & | output | ) | [protected, virtual] |
Abstract filter method.
The implementation needs to set output.{data, row_step, point_step, width, height, is_dense}.
Implements pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 46 of file radius_outlier_removal.cpp.
double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getMinNeighborsInRadius | ( | ) | [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 167 of file radius_outlier_removal.h.
double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getRadiusSearch | ( | ) | [inline] |
Get the sphere radius used for determining the k-nearest neighbors.
Definition at line 155 of file radius_outlier_removal.h.
void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::setMinNeighborsInRadius | ( | int | min_pts | ) | [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).
min_pts | the minimum number of neighbors |
Definition at line 162 of file radius_outlier_removal.h.
void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::setRadiusSearch | ( | double | radius | ) | [inline] |
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.
radius | the sphere radius that is to contain all k-nearest neighbors |
Definition at line 151 of file radius_outlier_removal.h.
int pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::min_pts_radius_ [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 175 of file radius_outlier_removal.h.
double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::search_radius_ [protected] |
The nearest neighbors search radius for each point.
Definition at line 171 of file radius_outlier_removal.h.
KdTreePtr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::tree_ [protected] |
A pointer to the spatial search object.
Definition at line 178 of file radius_outlier_removal.h.