40 #ifndef PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_ 41 #define PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_ 43 #include <pcl/filters/filter_indices.h> 44 #include <pcl/search/pcl_search.h> 71 template<
typename Po
intT>
82 typedef boost::shared_ptr< RadiusOutlierRemoval<PointT> >
Ptr;
83 typedef boost::shared_ptr< const RadiusOutlierRemoval<PointT> >
ConstPtr;
106 search_radius_ = radius;
117 return (search_radius_);
128 min_pts_radius_ = min_pts;
139 return (min_pts_radius_);
176 SearcherPtr searcher_;
179 double search_radius_;
212 search_radius_ (0.0), min_pts_radius_ (1), tree_ ()
223 search_radius_ = radius;
230 return (search_radius_);
240 min_pts_radius_ = min_pts;
249 return (min_pts_radius_);
269 #ifdef PCL_NO_PRECOMPILE 270 #include <pcl/filters/impl/radius_outlier_removal.hpp> 273 #endif // PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_ double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
This file defines compatibility wrappers for low level I/O functions.
int min_pts_radius_
The minimum number of neighbors that a point needs to have in the given search radius to be considere...
boost::shared_ptr< ::pcl::PCLPointCloud2 const > PCLPointCloud2ConstPtr
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
void applyFilter(std::vector< int > &indices)
Filtered results are indexed by an indices array.
PointCloud::Ptr PointCloudPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 > Ptr
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have...
boost::shared_ptr< PointCloud< PointT > > Ptr
FilterIndices represents the base class for filters that are about binary point removal.
KdTreePtr tree_
A pointer to the spatial search object.
RadiusOutlierRemoval(bool extract_removed_indices=false)
Constructor.
double getRadiusSearch()
Get the radius of the sphere that will determine which points are neighbors.
void setRadiusSearch(double radius)
Set the radius of the sphere that will determine which points are neighbors.
Filter represents the base filter class.
PointCloud::ConstPtr PointCloudConstPtr
FilterIndices< PointT >::PointCloud PointCloud
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
boost::shared_ptr< const RadiusOutlierRemoval< PointT > > ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< ::pcl::PCLPointCloud2 > PCLPointCloud2Ptr
pcl::search::Search< PointT >::Ptr SearcherPtr
void applyFilter(PointCloud &output)
Filtered results are stored in a separate point cloud.
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...
void setMinNeighborsInRadius(int min_pts)
Set the number of neighbors that need to be present in order to be classified as an inlier...
double getMinNeighborsInRadius()
Get the minimum number of neighbors that a point needs to have in the given search radius to be consi...
std::string filter_name_
The filter name.
int getMinNeighborsInRadius()
Get the number of neighbors that need to be present in order to be classified as an inlier...
A point structure representing Euclidean xyz coordinates, and the RGB color.
boost::shared_ptr< RadiusOutlierRemoval< PointT > > Ptr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering...
double search_radius_
The nearest neighbors search radius for each point.
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.