RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have. More...

#include <radius_outlier_removal.h>

Inheritance diagram for pcl::RadiusOutlierRemoval< PointT >:

Public Types
typedef boost::shared_ptr < const RadiusOutlierRemoval < PointT > >	ConstPtr
typedef boost::shared_ptr < RadiusOutlierRemoval< PointT > >	Ptr
Public Member Functions
int	getMinNeighborsInRadius ()
	Get the number of neighbors that need to be present in order to be classified as an inlier.
double	getRadiusSearch ()
	Get the radius of the sphere that will determine which points are neighbors.
	RadiusOutlierRemoval (bool extract_removed_indices=false)
	Constructor.
void	setMinNeighborsInRadius (int min_pts)
	Set the number of neighbors that need to be present in order to be classified as an inlier.
void	setRadiusSearch (double radius)
	Set the radius of the sphere that will determine which points are neighbors.
Protected Types
typedef FilterIndices< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
typedef pcl::search::Search < PointT >::Ptr	SearcherPtr
Protected Member Functions
void	applyFilter (PointCloud &output)
	Filtered results are stored in a separate point cloud.
void	applyFilter (std::vector< int > &indices)
	Filtered results are indexed by an indices array.
void	applyFilterIndices (std::vector< int > &indices)
	Filtered results are indexed by an indices array.
Private 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.
SearcherPtr	searcher_
	A pointer to the spatial search object.

Detailed Description

template<typename PointT>
class pcl::RadiusOutlierRemoval< PointT >

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:

 pcl::RadiusOutlierRemoval<PointType> rorfilter (true); // Initializing with true will allow us to extract the removed indices
 rorfilter.setInputCloud (cloud_in);
 rorfilter.setRadiusSearch (0.1);
 rorfilter.setMinNeighborsInRadius (5);
 rorfilter.setNegative (true);
 rorfilter.filter (*cloud_out);
 // The resulting cloud_out contains all points of cloud_in that have 4 or less neighbors within the 0.1 search radius
 indices_rem = rorfilter.getRemovedIndices ();
 // The indices_rem array indexes all points of cloud_in that have 5 or more neighbors within the 0.1 search radius

Author:: Radu Bogdan Rusu

Definition at line 72 of file radius_outlier_removal.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const RadiusOutlierRemoval<PointT> > pcl::RadiusOutlierRemoval< PointT >::ConstPtr

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 83 of file radius_outlier_removal.h.

template<typename PointT>

typedef FilterIndices<PointT>::PointCloud pcl::RadiusOutlierRemoval< PointT >::PointCloud [protected]

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 75 of file radius_outlier_removal.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::RadiusOutlierRemoval< PointT >::PointCloudConstPtr [protected]

Reimplemented from pcl::Filter< PointT >.

Definition at line 77 of file radius_outlier_removal.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::RadiusOutlierRemoval< PointT >::PointCloudPtr [protected]

Reimplemented from pcl::Filter< PointT >.

Definition at line 76 of file radius_outlier_removal.h.

template<typename PointT>

typedef boost::shared_ptr< RadiusOutlierRemoval<PointT> > pcl::RadiusOutlierRemoval< PointT >::Ptr

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 82 of file radius_outlier_removal.h.

template<typename PointT>

typedef pcl::search::Search<PointT>::Ptr pcl::RadiusOutlierRemoval< PointT >::SearcherPtr [protected]

Definition at line 78 of file radius_outlier_removal.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::RadiusOutlierRemoval< PointT >::RadiusOutlierRemoval ( bool extract_removed_indices = false ) [inline]

Constructor.

Parameters:

[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.

Member Function Documentation

template<typename PointT >

void pcl::RadiusOutlierRemoval< PointT >::applyFilter ( PointCloud & output ) [protected, virtual]

Filtered results are stored in a separate point cloud.

Parameters:

[out] output The resultant point cloud.

Implements pcl::Filter< PointT >.

Definition at line 48 of file radius_outlier_removal.hpp.

template<typename PointT>

void pcl::RadiusOutlierRemoval< PointT >::applyFilter ( std::vector< int > & indices ) [inline, protected, virtual]

Filtered results are indexed by an indices array.

Parameters:

[out] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 163 of file radius_outlier_removal.h.

template<typename PointT >

void pcl::RadiusOutlierRemoval< PointT >::applyFilterIndices ( std::vector< int > & indices ) [protected]

Filtered results are indexed by an indices array.

Parameters:

[out] indices The resultant indices.

Definition at line 73 of file radius_outlier_removal.hpp.

template<typename PointT>

int pcl::RadiusOutlierRemoval< PointT >::getMinNeighborsInRadius ( ) [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).

Parameters:

min_pts The minimum number of neighbors (default = 1).

Definition at line 137 of file radius_outlier_removal.h.

template<typename PointT>

double pcl::RadiusOutlierRemoval< PointT >::getRadiusSearch ( ) [inline]

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).

Returns:: The radius of the sphere for nearest neighbor searching.

Definition at line 115 of file radius_outlier_removal.h.

template<typename PointT>

void pcl::RadiusOutlierRemoval< PointT >::setMinNeighborsInRadius ( int min_pts ) [inline]

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).

Parameters:

min_pts The minimum number of neighbors (default = 1).

Definition at line 126 of file radius_outlier_removal.h.

template<typename PointT>

void pcl::RadiusOutlierRemoval< PointT >::setRadiusSearch ( double radius ) [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).

Parameters:

[in] radius The radius of the sphere for nearest neighbor searching.

Definition at line 104 of file radius_outlier_removal.h.

Member Data Documentation

template<typename PointT>

int pcl::RadiusOutlierRemoval< PointT >::min_pts_radius_ [private]

The minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier.

Definition at line 182 of file radius_outlier_removal.h.

template<typename PointT>

double pcl::RadiusOutlierRemoval< PointT >::search_radius_ [private]

The nearest neighbors search radius for each point.

Definition at line 179 of file radius_outlier_removal.h.

template<typename PointT>

SearcherPtr pcl::RadiusOutlierRemoval< PointT >::searcher_ [private]

A pointer to the spatial search object.

Definition at line 176 of file radius_outlier_removal.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Private Attributes

Detailed Description

template<typename PointT> class pcl::RadiusOutlierRemoval< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::RadiusOutlierRemoval< PointT >