pcl::RadiusOutlierRemoval< PointT > 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< PointT >:

[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 (PointCloud &output)
	Apply the filter.
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< PointT >	KdTree
typedef pcl::KdTree< PointT >::Ptr	KdTreePtr
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

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Detailed Description

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

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 56 of file radius_outlier_removal.h.

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Member Typedef Documentation

template<typename PointT>

typedef pcl::KdTree<PointT> pcl::RadiusOutlierRemoval< PointT >::KdTree [private]

Definition at line 63 of file radius_outlier_removal.h.

template<typename PointT>

typedef pcl::KdTree<PointT>::Ptr pcl::RadiusOutlierRemoval< PointT >::KdTreePtr [private]

Definition at line 64 of file radius_outlier_removal.h.

template<typename PointT>

typedef Filter<PointT>::PointCloud pcl::RadiusOutlierRemoval< PointT >::PointCloud [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 66 of file radius_outlier_removal.h.

template<typename PointT>

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

Reimplemented from pcl::Filter< PointT >.

Definition at line 68 of file radius_outlier_removal.h.

template<typename PointT>

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

Reimplemented from pcl::Filter< PointT >.

Definition at line 67 of file radius_outlier_removal.h.

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Constructor & Destructor Documentation

template<typename PointT>

pcl::RadiusOutlierRemoval< PointT >::RadiusOutlierRemoval

(

)

[inline]

Empty constructor.

Definition at line 73 of file radius_outlier_removal.h.

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Member Function Documentation

template<typename PointT >

void pcl::RadiusOutlierRemoval< PointT >::applyFilter

(

PointCloud &

output

)

[inline, protected, virtual]

Apply the filter.

Parameters:

output

the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 45 of file radius_outlier_removal.hpp.

template<typename PointT>

double pcl::RadiusOutlierRemoval< PointT >::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 98 of file radius_outlier_removal.h.

template<typename PointT>

double pcl::RadiusOutlierRemoval< PointT >::getRadiusSearch

(

)

[inline]

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

Definition at line 86 of file radius_outlier_removal.h.

template<typename PointT>

void pcl::RadiusOutlierRemoval< PointT >::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 93 of file radius_outlier_removal.h.

template<typename PointT>

void pcl::RadiusOutlierRemoval< PointT >::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 82 of file radius_outlier_removal.h.

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Member Data Documentation

template<typename PointT>

int pcl::RadiusOutlierRemoval< PointT >::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 106 of file radius_outlier_removal.h.

template<typename PointT>

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

The nearest neighbors search radius for each point.

Definition at line 102 of file radius_outlier_removal.h.

template<typename PointT>

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

A pointer to the spatial search object.

Definition at line 109 of file radius_outlier_removal.h.

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

• radius_outlier_removal.h
• radius_outlier_removal.hpp