StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more information check: More...

#include <statistical_outlier_removal.h>

Inheritance diagram for pcl_ros::StatisticalOutlierRemoval:

[legend]

Protected Member Functions
bool	child_init (ros::NodeHandle &nh, bool &has_service)
	Child initialization routine. More...

void	config_callback (pcl_ros::StatisticalOutlierRemovalConfig &config, uint32_t level)
	Dynamic reconfigure callback. More...

void	filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, PointCloud2 &output)
	Call the actual filter. More...

Protected Member Functions inherited from pcl_ros::Filter
void	computePublish (const PointCloud2::ConstPtr &input, const IndicesPtr &indices)
	Call the child filter () method, optionally transform the result, and publish it. More...

virtual void	onInit ()
	Nodelet initialization routine. More...

virtual void	subscribe ()
	Lazy transport subscribe routine. More...

virtual void	unsubscribe ()
	Lazy transport unsubscribe routine. More...

Protected Member Functions inherited from pcl_ros::PCLNodelet
bool	isValid (const ModelCoefficientsConstPtr &, const std::string &="model")
	Test whether a given ModelCoefficients message is "valid" (i.e., has values). More...

bool	isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
	Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More...

bool	isValid (const PointIndicesConstPtr &, const std::string &="indices")
	Test whether a given PointIndices message is "valid" (i.e., has values). More...

Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
boost::shared_ptr< dynamic_reconfigure::Server< pcl_ros::StatisticalOutlierRemovalConfig > >	srv_
	Pointer to a dynamic reconfigure service. More...

Protected Attributes inherited from pcl_ros::Filter
std::string	filter_field_name_
	The desired user filter field name. More...

double	filter_limit_max_
	The maximum allowed filter value a point will be considered from. More...

double	filter_limit_min_
	The minimum allowed filter value a point will be considered from. More...

bool	filter_limit_negative_
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false. More...

boost::mutex	mutex_
	Internal mutex. More...

ros::Subscriber	sub_input_
	The input PointCloud subscriber. More...

message_filters::Subscriber< PointCloud2 >	sub_input_filter_

std::string	tf_input_frame_
	The input TF frame the data should be transformed into, if input.header.frame_id is different. More...

std::string	tf_input_orig_frame_
	The original data input TF frame. More...

std::string	tf_output_frame_
	The output TF frame the data should be transformed into, if input.header.frame_id is different. More...

Protected Attributes inherited from pcl_ros::PCLNodelet
bool	approximate_sync_
	True if we use an approximate time synchronizer versus an exact one (false by default). More...

bool	latched_indices_
	Set to true if the indices topic is latched. More...

int	max_queue_size_
	The maximum queue size (default: 3). More...

ros::Publisher	pub_output_
	The output PointCloud publisher. More...

message_filters::Subscriber< PointIndices >	sub_indices_filter_
	The message filter subscriber for PointIndices. More...

message_filters::Subscriber< PointCloud >	sub_input_filter_
	The message filter subscriber for PointCloud2. More...

tf::TransformListener	tf_listener_
	TF listener object. More...

bool	use_indices_
	Set to true if point indices are used. More...

Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

bool	lazy_

boost::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Private Attributes
pcl::StatisticalOutlierRemoval< pcl::PCLPointCloud2 >	impl_
	The PCL filter implementation used. More...

Additional Inherited Members
Public Types inherited from pcl_ros::Filter
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef sensor_msgs::PointCloud2	PointCloud2

Public Types inherited from pcl_ros::PCLNodelet
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl_msgs::ModelCoefficients	ModelCoefficients

typedef ModelCoefficients::ConstPtr	ModelCoefficientsConstPtr

typedef ModelCoefficients::Ptr	ModelCoefficientsPtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef sensor_msgs::PointCloud2	PointCloud2

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef pcl_msgs::PointIndices	PointIndices

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

Public Member Functions inherited from pcl_ros::Filter
	Filter ()

Public Member Functions inherited from pcl_ros::PCLNodelet
	PCLNodelet ()
	Empty constructor. More...

Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Detailed Description

StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. For more information check:

R. B. Rusu, Z. C. Marton, N. Blodow, M. Dolha, and M. Beetz. Towards 3D Point Cloud Based Object Maps for Household Environments Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge), 2008.

Note: setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.

Author: Radu Bogdan Rusu

Definition at line 61 of file statistical_outlier_removal.h.

Member Function Documentation

◆ child_init()

bool pcl_ros::StatisticalOutlierRemoval::child_init	(	ros::NodeHandle &	nh,
		bool &	has_service
	)

protectedvirtual

Child initialization routine.

Parameters

nh	ROS node handle
has_service	set to true if the child has a Dynamic Reconfigure service

Reimplemented from pcl_ros::Filter.

Definition at line 43 of file statistical_outlier_removal.cpp.

◆ config_callback()

void pcl_ros::StatisticalOutlierRemoval::config_callback	(	pcl_ros::StatisticalOutlierRemovalConfig &	config,
		uint32_t	level
	)

protected

Dynamic reconfigure callback.

Parameters

config	the config object
level	the dynamic reconfigure level

Definition at line 56 of file statistical_outlier_removal.cpp.

◆ filter()

void pcl_ros::StatisticalOutlierRemoval::filter	(	const PointCloud2::ConstPtr &	input,
		const IndicesPtr &	indices,
		PointCloud2 &	output
	)

inlineprotectedvirtual

Call the actual filter.

Parameters

input	the input point cloud dataset
indices	the input set of indices to use from input
output	the resultant filtered dataset

Implements pcl_ros::Filter.

Definition at line 73 of file statistical_outlier_removal.h.

Member Data Documentation

◆ impl_

pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> pcl_ros::StatisticalOutlierRemoval::impl_

private

The PCL filter implementation used.

Definition at line 100 of file statistical_outlier_removal.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::StatisticalOutlierRemovalConfig> > pcl_ros::StatisticalOutlierRemoval::srv_

protected

Pointer to a dynamic reconfigure service.

Definition at line 65 of file statistical_outlier_removal.h.

The documentation for this class was generated from the following files:

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ child_init()

◆ config_callback()

◆ filter()

Member Data Documentation

◆ impl_

◆ srv_