|
| RadiusOutlierRemoval (bool extract_removed_indices=false) |
| Constructor.
|
|
void | setRadiusSearch (double radius) |
| Set the radius of the sphere that will determine which points are neighbors.
|
|
double | getRadiusSearch () |
| Get the radius of the sphere that will determine which points are neighbors.
|
|
void | setMinNeighborsInRadius (int min_pts) |
| Set the number of neighbors that need to be present in order to be classified as an inlier.
|
|
int | getMinNeighborsInRadius () |
| Get the number of neighbors that need to be present in order to be classified as an inlier.
|
|
| FilterIndices (bool extract_removed_indices=false) |
| Constructor.
|
|
void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices.
|
|
void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions.
|
|
bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions.
|
|
void | setKeepOrganized (bool keep_organized) |
| Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure.
|
|
bool | getKeepOrganized () const |
| Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure.
|
|
void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them.
|
|
| Filter (bool extract_removed_indices=false) |
| Empty constructor.
|
|
IndicesConstPtr const | getRemovedIndices () const |
| Get the point indices being removed.
|
|
void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed.
|
|
void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output.
|
|
| PCLBase () |
| Empty constructor.
|
|
| PCLBase (const PCLBase &base) |
| Copy constructor.
|
|
virtual | ~PCLBase ()=default |
| Destructor.
|
|
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset.
|
|
PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset.
|
|
virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
|
|
virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
|
|
virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
|
|
virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud.
|
|
IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used.
|
|
IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used.
|
|
const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code.
|
|
|
void | applyFilter (Indices &indices) override |
| Filtered results are indexed by an indices array.
|
|
void | applyFilterIndices (Indices &indices) |
| Filtered results are indexed by an indices array.
|
|
virtual void | applyFilter (Indices &indices)=0 |
| Abstract filter method for point cloud indices.
|
|
void | applyFilter (PointCloud &output) override |
| Abstract filter method for point cloud.
|
|
virtual void | applyFilter (PointCloud &output)=0 |
| Abstract filter method.
|
|
const std::string & | getClassName () const |
| Get a string representation of the name of this class.
|
|
bool | initCompute () |
| This method should get called before starting the actual computation.
|
|
bool | deinitCompute () |
| This method should get called after finishing the actual computation.
|
|
template<typename
PointT>
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:
rorfilter.setInputCloud (cloud_in);
rorfilter.setRadiusSearch (0.1);
rorfilter.setMinNeighborsInRadius (5);
rorfilter.setNegative (true);
rorfilter.filter (*cloud_out);
indices_rem = rorfilter.getRemovedIndices ();
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have.
- Author
- Radu Bogdan Rusu
Definition at line 71 of file radius_outlier_removal.h.