radius_outlier_removal.h

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 * $Id: radius_outlier_removal.h 34663 2010-12-11 21:54:46Z rusu $
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#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_
#define PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_

#include "pcl/filters/filter.h"
#include "pcl/point_types.h"
#include "pcl/kdtree/kdtree_flann.h"

namespace pcl
{

  template <typename PointT>
  class RadiusOutlierRemoval: public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;

    typedef typename pcl::KdTree<PointT> KdTree;
    typedef typename pcl::KdTree<PointT>::Ptr KdTreePtr;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:

      RadiusOutlierRemoval () : search_radius_ (0.0), min_pts_radius_ (1), tree_ () 
      {
        filter_name_ = "RadiusOutlierRemoval";
      };


      inline void setRadiusSearch (double radius) { search_radius_ = radius; }


      inline double getRadiusSearch () { return (search_radius_); }


      inline void setMinNeighborsInRadius (int min_pts) { min_pts_radius_ = min_pts; }


      inline double getMinNeighborsInRadius () { return (min_pts_radius_); }

    protected:
      double search_radius_;

      int min_pts_radius_;

      KdTreePtr tree_;


      void applyFilter (PointCloud &output);
  };


  template <>
  class RadiusOutlierRemoval<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    using Filter<sensor_msgs::PointCloud2>::filter_name_;
    using Filter<sensor_msgs::PointCloud2>::getClassName;

    typedef pcl::KdTree<pcl::PointXYZ> KdTree;
    typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;

    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    public:

      RadiusOutlierRemoval () : search_radius_ (0.0), min_pts_radius_ (1), tree_ () 
      {
        filter_name_ = "RadiusOutlierRemoval";
      };


      inline void setRadiusSearch (double radius) { search_radius_ = radius; }


      inline double getRadiusSearch () { return (search_radius_); }


      inline void setMinNeighborsInRadius (int min_pts) { min_pts_radius_ = min_pts; }


      inline double getMinNeighborsInRadius () { return (min_pts_radius_); }

    protected:
      double search_radius_;

      int min_pts_radius_;

      KdTreePtr tree_;

      void applyFilter (PointCloud2 &output);
  };
}

#endif  //#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_

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pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013