Point Cloud Library (PCL)
1.11.1-dev
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42 #include <pcl/filters/filter_indices.h>
43 #include <pcl/search/search.h>
70 template<
typename Po
intT>
81 using Ptr = shared_ptr<RadiusOutlierRemoval<PointT> >;
82 using ConstPtr = shared_ptr<const RadiusOutlierRemoval<PointT> >;
105 search_radius_ = radius;
116 return (search_radius_);
127 min_pts_radius_ = min_pts;
138 return (min_pts_radius_);
172 double search_radius_;
204 search_radius_ (0.0), min_pts_radius_ (1)
206 filter_name_ =
"RadiusOutlierRemoval";
215 search_radius_ = radius;
222 return (search_radius_);
232 min_pts_radius_ = min_pts;
241 return (min_pts_radius_);
260 applyFilter (
Indices &indices)
override;
264 #ifdef PCL_NO_PRECOMPILE
265 #include <pcl/filters/impl/radius_outlier_removal.hpp>
KdTreePtr searcher_
A pointer to the spatial search object.
void setMinNeighborsInRadius(int min_pts)
Set the number of neighbors that need to be present in order to be classified as an inlier.
shared_ptr< RadiusOutlierRemoval< PointT > > Ptr
typename PointCloud::ConstPtr PointCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
RadiusOutlierRemoval(bool extract_removed_indices=false)
Constructor.
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
double getMinNeighborsInRadius()
Get the minimum number of neighbors that a point needs to have in the given search radius to be consi...
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
int min_pts_radius_
The minimum number of neighbors that a point needs to have in the given search radius to be considere...
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setRadiusSearch(double radius)
Set the radius of the sphere that will determine which points are neighbors.
int getMinNeighborsInRadius()
Get the number of neighbors that need to be present in order to be classified as an inlier.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
double search_radius_
The nearest neighbors search radius for each point.
double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
shared_ptr< const Filter< PointT > > ConstPtr
shared_ptr< pcl::search::Search< PointT > > Ptr
FilterIndices represents the base class for filters that are about binary point removal.
Filter represents the base filter class.
IndicesAllocator<> Indices
Type used for indices in PCL.
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have.
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...
std::string filter_name_
The filter name.
shared_ptr< PointCloud< PointT > > Ptr
typename pcl::search::Search< PointT >::Ptr SearcherPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
void applyFilter(Indices &indices) override
Filtered results are indexed by an indices array.
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
double getRadiusSearch()
Get the radius of the sphere that will determine which points are neighbors.