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< pcl::PCLPointCloud2 >:

[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 (bool extract_removed_indices=false)
	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 (PCLPointCloud2 &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::search::Search < pcl::PointXYZ >	KdTree
typedef pcl::search::Search < pcl::PointXYZ >::Ptr	KdTreePtr
typedef pcl::PCLPointCloud2	PCLPointCloud2
typedef PCLPointCloud2::ConstPtr	PCLPointCloud2ConstPtr
typedef PCLPointCloud2::Ptr	PCLPointCloud2Ptr

Detailed Description

template<>
class pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >

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 193 of file radius_outlier_removal.h.

Member Typedef Documentation

typedef pcl::search::Search<pcl::PointXYZ> pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::KdTree [private]

Definition at line 201 of file radius_outlier_removal.h.

typedef pcl::search::Search<pcl::PointXYZ>::Ptr pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::KdTreePtr [private]

Definition at line 202 of file radius_outlier_removal.h.

typedef pcl::PCLPointCloud2 pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::PCLPointCloud2 [private]

Reimplemented from pcl::Filter< pcl::PCLPointCloud2 >.

Definition at line 204 of file radius_outlier_removal.h.

typedef PCLPointCloud2::ConstPtr pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::PCLPointCloud2ConstPtr [private]

Reimplemented from pcl::Filter< pcl::PCLPointCloud2 >.

Definition at line 206 of file radius_outlier_removal.h.

typedef PCLPointCloud2::Ptr pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::PCLPointCloud2Ptr [private]

Reimplemented from pcl::Filter< pcl::PCLPointCloud2 >.

Definition at line 205 of file radius_outlier_removal.h.

Constructor & Destructor Documentation

pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::RadiusOutlierRemoval ( bool extract_removed_indices = false ) [inline]

Empty constructor.

Definition at line 210 of file radius_outlier_removal.h.

Member Function Documentation

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 & output ) [protected, virtual]

Abstract filter method.

The implementation needs to set output.{data, row_step, point_step, width, height, is_dense}.

Parameters:

[out] output the resultant filtered point cloud

Implements pcl::Filter< pcl::PCLPointCloud2 >.

Definition at line 46 of file filters/src/radius_outlier_removal.cpp.

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::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 247 of file radius_outlier_removal.h.

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::getRadiusSearch ( ) [inline]

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 228 of file radius_outlier_removal.h.

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::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 238 of file radius_outlier_removal.h.

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::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 221 of file radius_outlier_removal.h.

Member Data Documentation

int pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::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 259 of file radius_outlier_removal.h.

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::search_radius_ [protected]

The nearest neighbors search radius for each point.

Definition at line 254 of file radius_outlier_removal.h.

KdTreePtr pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 262 of file radius_outlier_removal.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

template<> class pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<>
class pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >