Point Cloud Library (PCL)
1.3.1
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StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. More...
#include <pcl/filters/statistical_outlier_removal.h>
Public Types | |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
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 indices should be returned, or all points _except_ the indices. | |
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 (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. |
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.
For more information check:
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::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::StatisticalOutlierRemoval | ( | bool | extract_removed_indices = false | ) | [inline] |
Empty constructor.
Definition at line 190 of file statistical_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.
int pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getMeanK | ( | ) | [inline] |
Get the number of points to use for mean distance estimation.
Definition at line 208 of file statistical_outlier_removal.h.
bool pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getNegative | ( | ) | [inline] |
Get the value of the internal negative_ parameter.
If true, all points _except_ the input indices will be returned.
Definition at line 245 of file statistical_outlier_removal.h.
IndicesConstPtr const pcl::Filter< sensor_msgs::PointCloud2 >::getRemovedIndices | ( | ) | [inline, inherited] |
double pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getStddevMulThresh | ( | ) | [inline] |
Get the standard deviation multiplier threshold as set by the user.
Definition at line 227 of file statistical_outlier_removal.h.
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::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setMeanK | ( | int | nr_k | ) | [inline] |
Set the number of points (k) to use for mean distance estimation.
nr_k | the number of points to use for mean distance estimation |
Definition at line 201 of file statistical_outlier_removal.h.
void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setNegative | ( | bool | negative | ) | [inline] |
Set whether the indices should be returned, or all points _except_ the indices.
negative | true if all points _except_ the input indices will be returned, false otherwise |
Definition at line 236 of file statistical_outlier_removal.h.
void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setStddevMulThresh | ( | double | std_mul | ) | [inline] |
Set the standard deviation multiplier threshold.
All points outside the
will be considered outliers, where is the estimated mean, and
is the standard deviation.
std_mul | the standard deviation multiplier threshold |
Definition at line 220 of file statistical_outlier_removal.h.