Point Cloud Library (PCL)
1.3.1
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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 <pcl/filters/radius_outlier_removal.h>
Public Types | |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
RadiusOutlierRemoval (bool extract_removed_indices=false) | |
Empty constructor. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the k-nearest neighbors. | |
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). | |
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. | |
IndicesConstPtr const | getRemovedIndices () |
Get the point indices being removed. | |
void | setFilterFieldName (const std::string &field_name) |
Provide the name of the field to be used for filtering data. | |
std::string const | getFilterFieldName () |
Get the name of the field used for filtering. | |
void | setFilterLimits (const double &limit_min, const double &limit_max) |
Set the field filter limits. | |
void | getFilterLimits (double &limit_min, double &limit_max) |
Get the field filter limits (min/max) set by the user. | |
void | setFilterLimitsNegative (const bool limit_negative) |
Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). | |
void | getFilterLimitsNegative (bool &limit_negative) |
Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). | |
bool | getFilterLimitsNegative () |
void | filter (PointCloud2 &output) |
Calls the filtering method and returns the filtered dataset in output. | |
void | setInputCloud (const PointCloud2ConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloud2ConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. |
RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K.
typedef PointIndices::ConstPtr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesConstPtr [inherited] |
Definition at line 264 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesPtr [inherited] |
Definition at line 263 of file pcl_base.h.
pcl::RadiusOutlierRemoval< sensor_msgs::PointCloud2 >::RadiusOutlierRemoval | ( | bool | extract_removed_indices = false | ) | [inline] |
Empty constructor.
Definition at line 160 of file radius_outlier_removal.h.
void pcl::Filter< sensor_msgs::PointCloud2 >::filter | ( | PointCloud2 & | output | ) | [inherited] |
Calls the filtering method and returns the filtered dataset in output.
output | the resultant filtered point cloud dataset |
Reimplemented in pcl::FilterIndices< sensor_msgs::PointCloud2 >.
std::string const pcl::Filter< sensor_msgs::PointCloud2 >::getFilterFieldName | ( | ) | [inline, inherited] |
void pcl::Filter< sensor_msgs::PointCloud2 >::getFilterLimits | ( | double & | limit_min, |
double & | limit_max | ||
) | [inline, inherited] |
void pcl::Filter< sensor_msgs::PointCloud2 >::getFilterLimitsNegative | ( | bool & | limit_negative | ) | [inline, inherited] |
bool pcl::Filter< sensor_msgs::PointCloud2 >::getFilterLimitsNegative | ( | ) | [inline, inherited] |
IndicesPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 312 of file pcl_base.h.
PointCloud2ConstPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 286 of file pcl_base.h.
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 197 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 178 of file radius_outlier_removal.h.
IndicesConstPtr const pcl::Filter< sensor_msgs::PointCloud2 >::getRemovedIndices | ( | ) | [inline, inherited] |
void pcl::Filter< sensor_msgs::PointCloud2 >::setFilterFieldName | ( | const std::string & | field_name | ) | [inline, inherited] |
void pcl::Filter< sensor_msgs::PointCloud2 >::setFilterLimits | ( | const double & | limit_min, |
const double & | limit_max | ||
) | [inline, inherited] |
void pcl::Filter< sensor_msgs::PointCloud2 >::setFilterLimitsNegative | ( | const bool | limit_negative | ) | [inline, inherited] |
void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 292 of file pcl_base.h.
void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 303 of file pcl_base.h.
void pcl::PCLBase< sensor_msgs::PointCloud2 >::setInputCloud | ( | const PointCloud2ConstPtr & | cloud | ) | [inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
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).
min_pts | the minimum number of neighbors |
Definition at line 188 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.
radius | the sphere radius that is to contain all k-nearest neighbors |
Definition at line 171 of file radius_outlier_removal.h.