Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::StatisticalOutlierRemoval Class Reference

StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. More...

#include <pcl/filters/statistical_outlier_removal.h>

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List of all members.

Public Types

typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr

Public Member Functions

 StatisticalOutlierRemoval (bool extract_removed_indices=false)
 Empty constructor.
void setMeanK (int nr_k)
 Set the number of points (k) to use for mean distance estimation.
int getMeanK ()
 Get the number of points to use for mean distance estimation.
void setStddevMulThresh (double std_mul)
 Set the standard deviation multiplier threshold.
double getStddevMulThresh ()
 Get the standard deviation multiplier threshold as set by the user.
void setNegative (bool negative)
 Set whether the inliers should be returned (true), or the outliers (false).
bool getNegative ()
 Get the value of the internal negative_ parameter.
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 (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output.

Detailed Description

StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.

For more information check:

Note:
setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
Author:
Radu Bogdan Rusu

Member Typedef Documentation

typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter::ConstPtr [inherited]

Definition at line 75 of file filter.h.

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter::Ptr [inherited]

Definition at line 74 of file filter.h.


Constructor & Destructor Documentation

pcl::StatisticalOutlierRemoval::StatisticalOutlierRemoval ( bool  extract_removed_indices = false) [inline]

Empty constructor.

Definition at line 80 of file statistical_outlier_removal.h.


Member Function Documentation

void pcl::Filter::filter ( PointCloud output) [inline, inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:
outputthe resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices.

Definition at line 160 of file filter.h.

std::string const pcl::Filter::getFilterFieldName ( ) [inline, inherited]

Get the name of the field used for filtering.

Definition at line 110 of file filter.h.

void pcl::Filter::getFilterLimits ( double &  limit_min,
double &  limit_max 
) [inline, inherited]

Get the field filter limits (min/max) set by the user.

The default values are -FLT_MAX, FLT_MAX.

Definition at line 128 of file filter.h.

void pcl::Filter::getFilterLimitsNegative ( bool &  limit_negative) [inline, inherited]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Definition at line 146 of file filter.h.

bool pcl::Filter::getFilterLimitsNegative ( ) [inline, inherited]

Definition at line 151 of file filter.h.

int pcl::StatisticalOutlierRemoval::getMeanK ( ) [inline]

Get the number of points to use for mean distance estimation.

Definition at line 97 of file statistical_outlier_removal.h.

bool pcl::StatisticalOutlierRemoval::getNegative ( ) [inline]

Get the value of the internal negative_ parameter.

If true, all points _except_ the input indices will be returned.

Definition at line 134 of file statistical_outlier_removal.h.

IndicesConstPtr const pcl::Filter::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

Definition at line 93 of file filter.h.

double pcl::StatisticalOutlierRemoval::getStddevMulThresh ( ) [inline]

Get the standard deviation multiplier threshold as set by the user.

Definition at line 116 of file statistical_outlier_removal.h.

void pcl::Filter::setFilterFieldName ( const std::string &  field_name) [inline, inherited]

Provide the name of the field to be used for filtering data.

In conjunction with setFilterLimits, points having values outside this interval will be discarded.

Parameters:
field_namethe name of the field that contains values used for filtering

Definition at line 103 of file filter.h.

void pcl::Filter::setFilterLimits ( const double &  limit_min,
const double &  limit_max 
) [inline, inherited]

Set the field filter limits.

All points having field values outside this interval will be discarded.

Parameters:
limit_minthe minimum allowed field value
limit_maxthe maximum allowed field value

Definition at line 120 of file filter.h.

void pcl::Filter::setFilterLimitsNegative ( const bool  limit_negative) [inline, inherited]

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).

Default: false.

Parameters:
limit_negativereturn data inside the interval (false) or outside (true)

Definition at line 139 of file filter.h.

void pcl::StatisticalOutlierRemoval::setMeanK ( int  nr_k) [inline]

Set the number of points (k) to use for mean distance estimation.

Parameters:
nr_kthe number of points to use for mean distance estimation

Definition at line 90 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval::setNegative ( bool  negative) [inline]

Set whether the inliers should be returned (true), or the outliers (false).

Parameters:
negativetrue if the inliers should be returned, false otherwise

Definition at line 125 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval::setStddevMulThresh ( double  std_mul) [inline]

Set the standard deviation multiplier threshold.

All points outside the

\[ \mu \pm \sigma \cdot std\_mul \]

will be considered outliers, where $ \mu $ is the estimated mean, and $ \sigma $ is the standard deviation.

Parameters:
std_multhe standard deviation multiplier threshold

Definition at line 109 of file statistical_outlier_removal.h.


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