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>
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 (PointCloud2 &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 sensor_msgs::PointCloud2 | PointCloud2 |
| typedef PointCloud2::ConstPtr | PointCloud2ConstPtr |
| typedef PointCloud2::Ptr | PointCloud2Ptr |
Detailed Description
template<>
class pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >
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.
Definition at line 188 of file radius_outlier_removal.h.
Member Typedef Documentation
typedef pcl::search::Search<pcl::PointXYZ> pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::KdTree [private] |
Definition at line 196 of file radius_outlier_removal.h.
typedef pcl::search::Search<pcl::PointXYZ>::Ptr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::KdTreePtr [private] |
Definition at line 197 of file radius_outlier_removal.h.
typedef sensor_msgs::PointCloud2 pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::PointCloud2 [private] |
Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 199 of file radius_outlier_removal.h.
typedef PointCloud2::ConstPtr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::PointCloud2ConstPtr [private] |
Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 201 of file radius_outlier_removal.h.
typedef PointCloud2::Ptr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::PointCloud2Ptr [private] |
Reimplemented from pcl::Filter< sensor_msgs::PointCloud2 >.
Definition at line 200 of file radius_outlier_removal.h.
Constructor & Destructor Documentation
| pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::RadiusOutlierRemoval | ( | bool | extract_removed_indices = false | ) | [inline] |
Empty constructor.
Definition at line 205 of file radius_outlier_removal.h.
Member Function Documentation
| void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::applyFilter | ( | PointCloud2 & | 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< sensor_msgs::PointCloud2 >.
Definition at line 46 of file filters/src/radius_outlier_removal.cpp.
| double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::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 242 of file radius_outlier_removal.h.
| double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::getRadiusSearch | ( | ) | [inline] |
Get the sphere radius used for determining the k-nearest neighbors.
Definition at line 223 of file radius_outlier_removal.h.
| void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::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 233 of file radius_outlier_removal.h.
| void pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::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 216 of file radius_outlier_removal.h.
Member Data Documentation
int pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::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 254 of file radius_outlier_removal.h.
double pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::search_radius_ [protected] |
The nearest neighbors search radius for each point.
Definition at line 249 of file radius_outlier_removal.h.
KdTreePtr pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::tree_ [protected] |
A pointer to the spatial search object.
Definition at line 257 of file radius_outlier_removal.h.
The documentation for this class was generated from the following files: