pcl::RadiusOutlierRemoval< PointT > Class Template Reference

**RadiusOutlierRemoval** filters points in a cloud based on the number of neighbors they have.
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`#include <radius_outlier_removal.h>`

Inheritance diagram for pcl::RadiusOutlierRemoval< PointT >:

## 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. |

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

Definition at line 72 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 pcl::search::Search<PointT>::Ptr pcl::RadiusOutlierRemoval< PointT >::SearcherPtr` [protected]` |

Definition at line 78 of file radius_outlier_removal.h.

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 84 of file radius_outlier_removal.h.

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 158 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 132 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 110 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 121 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 99 of file radius_outlier_removal.h.

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 177 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 174 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 171 of file radius_outlier_removal.h.

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