pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 > Class Template Reference

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>

Inheritance diagram for pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >:
Inheritance graph
[legend]

List of all members.

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

Detailed Description

template<>
class pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >

RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K.

Note:
setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
Author:
Radu Bogdan Rusu

Definition at line 127 of file radius_outlier_removal.h.


Member Typedef Documentation

Definition at line 132 of file radius_outlier_removal.h.

Definition at line 133 of file radius_outlier_removal.h.

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.


Constructor & Destructor Documentation

Empty constructor.

Definition at line 142 of file radius_outlier_removal.h.


Member Function Documentation

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).

Parameters:
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.

Parameters:
radius the sphere radius that is to contain all k-nearest neighbors

Definition at line 151 of file radius_outlier_removal.h.


Member Data Documentation

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.

The nearest neighbors search radius for each point.

Definition at line 171 of file radius_outlier_removal.h.

A pointer to the spatial search object.

Definition at line 178 of file radius_outlier_removal.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines


pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:57:21 2013