RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K. More...

#include <pcl/filters/radius_outlier_removal.h>

Inheritance diagram for pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >:

Collaboration diagram for pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >:

Public Types
using	Ptr

using	ConstPtr

Public Types inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PointCloud

using	Ptr

using	ConstPtr

Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
using	Ptr = shared_ptr<Filter<pcl::PCLPointCloud2> >

using	ConstPtr = shared_ptr<const Filter<pcl::PCLPointCloud2> >

using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr

using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

using	Ptr

using	ConstPtr

using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
using	PCLPointCloud2 = pcl::PCLPointCloud2

using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr

using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

using	PointIndicesPtr

using	PointIndicesConstPtr

Public Member Functions
	RadiusOutlierRemoval (bool extract_removed_indices=false)
	Empty constructor.

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.

double	getRadiusSearch ()
	Get the sphere radius used for determining the k-nearest neighbors.

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 be considered an inlier (i.e., valid).

double	getMinNeighborsInRadius ()
	Get the minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier and avoid being filtered.

	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.

void	setSearchMethod (const SearcherPtr &searcher)
	Provide a pointer to the search object.

void	setNumberOfThreads (unsigned int nr_threads=0)
	Set the number of threads to use.

Public Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
	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.

	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.

Public Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
	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 (PCLPointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.

	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.

Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
	PCLBase ()
	Empty constructor.

virtual	~PCLBase ()=default
	destructor.

void	setInputCloud (const PCLPointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.

PCLPointCloud2ConstPtr const	getInputCloud () const
	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 () const
	Get a pointer to the vector of indices used.

	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 pcl::PCLPointCloud2 &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Types
using	PointCloud

using	PointCloudPtr

using	PointCloudConstPtr

using	SearcherPtr

Protected Member Functions
void	applyFilter (PCLPointCloud2 &output) override
	Abstract filter method for point cloud.

void	applyFilter (Indices &indices) override
	Abstract filter method for point cloud indices.

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.

Protected Member Functions inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
void	applyFilter (PointCloud &output) override
	Abstract filter method for point cloud.

Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.

virtual void	applyFilter (PointCloud &output)=0
	Abstract filter method.

const std::string &	getClassName () const
	Get a string representation of the name of this class.

Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool	initCompute ()

bool	deinitCompute ()

bool	initCompute ()
	This method should get called before starting the actual computation.

bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
double	search_radius_ {0.0}
	The nearest neighbors search radius for each point.

int	min_pts_radius_ {1}
	The minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier.

KdTreePtr	searcher_
	A pointer to the spatial search object.

Protected Attributes inherited from pcl::FilterIndices< pcl::PCLPointCloud2 >
bool	negative_ {false}
	False = normal filter behavior (default), true = inverted behavior.

bool	keep_organized_ {false}
	False = remove points (default), true = redefine points, keep structure.

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

bool	negative_
	False = normal filter behavior (default), true = inverted behavior.

bool	keep_organized_
	False = remove points (default), true = redefine points, keep structure.

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN).

Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr	removed_indices_
	Indices of the points that are removed.

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.

std::string	filter_name_
	The filter name.

IndicesPtr	removed_indices_
	Indices of the points that are removed.

std::string	filter_name_
	The filter name.

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.

Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

std::vector< uindex_t >	field_sizes_
	The size of each individual field.

index_t	x_idx_
	The x-y-z fields indices.

index_t	y_idx_

index_t	z_idx_

std::string	x_field_name_
	The desired x-y-z field names.

std::string	y_field_name_

std::string	z_field_name_

PointCloudConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

RadiusOutlierRemoval is a simple filter that removes outliers if the number of neighbors in a certain search radius is smaller than a given K.

Author: Radu Bogdan Rusu

Definition at line 213 of file radius_outlier_removal.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::ConstPtr

Definition at line 83 of file radius_outlier_removal.h.

◆ PointCloud

using pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::PointCloud

protected

Definition at line 75 of file radius_outlier_removal.h.

◆ PointCloudConstPtr

using pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::PointCloudConstPtr

protected

Definition at line 77 of file radius_outlier_removal.h.

◆ PointCloudPtr

using pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::PointCloudPtr

protected

Definition at line 76 of file radius_outlier_removal.h.

◆ Ptr

using pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::Ptr

Definition at line 82 of file radius_outlier_removal.h.

◆ SearcherPtr

using pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::SearcherPtr

protected

Definition at line 78 of file radius_outlier_removal.h.

Constructor & Destructor Documentation

◆ RadiusOutlierRemoval() [1/2]

pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::RadiusOutlierRemoval ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 230 of file radius_outlier_removal.h.

References pcl::Filter< pcl::PCLPointCloud2 >::filter_name_, and pcl::FilterIndices< pcl::PCLPointCloud2 >::FilterIndices().

◆ RadiusOutlierRemoval() [2/2]

pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::RadiusOutlierRemoval ( bool extract_removed_indices = false )

inline

Constructor.

Parameters

[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).

Definition at line 89 of file radius_outlier_removal.h.

Member Function Documentation

◆ applyFilter() [1/3]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( Indices & indices )

inlineoverrideprotectedvirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

Definition at line 179 of file radius_outlier_removal.h.

◆ applyFilter() [2/3]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Abstract filter method for point cloud indices.

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ applyFilter() [3/3]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 & output )

overrideprotectedvirtual

Abstract filter method for point cloud.

Implements pcl::FilterIndices< pcl::PCLPointCloud2 >.

◆ applyFilterIndices()

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::applyFilterIndices ( Indices & indices )

protected

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 188 of file radius_outlier_removal.hpp.

◆ getMinNeighborsInRadius() [1/2]

int pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::getMinNeighborsInRadius ( )

inline

Get the number of neighbors that need to be present in order to be classified as an inlier.

The number of points within setRadiusSearch() from the query point will need to be equal or greater than this number in order to be classified as an inlier point (i.e. will not be filtered).

Returns: The minimum number of neighbors (default = 1).

Definition at line 135 of file radius_outlier_removal.h.

◆ getMinNeighborsInRadius() [2/2]

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::getMinNeighborsInRadius ( )

inline

Get the minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier and avoid being filtered.

Definition at line 266 of file radius_outlier_removal.h.

References min_pts_radius_.

◆ getRadiusSearch() [1/2]

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::getRadiusSearch ( )

inline

Get the radius of the sphere that will determine which points are neighbors.

The number of points within this distance from the query point will need to be equal or greater than setMinNeighborsInRadius() in order to be classified as an inlier point (i.e. will not be filtered).

Returns: The radius of the sphere for nearest neighbor searching.

Definition at line 113 of file radius_outlier_removal.h.

◆ getRadiusSearch() [2/2]

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::getRadiusSearch ( )

inline

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 247 of file radius_outlier_removal.h.

References search_radius_.

◆ setMinNeighborsInRadius() [1/2]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setMinNeighborsInRadius ( int min_pts )

inline

Set the number of neighbors that need to be present in order to be classified as an inlier.

The number of points within setRadiusSearch() from the query point will need to be equal or greater than this number in order to be classified as an inlier point (i.e. will not be filtered).

Parameters

min_pts The minimum number of neighbors (default = 1).

Definition at line 124 of file radius_outlier_removal.h.

◆ setMinNeighborsInRadius() [2/2]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setMinNeighborsInRadius ( int min_pts )

inline

Set the minimum number of neighbors that a point needs to have in the given search radius in order to be considered an inlier (i.e., valid).

Parameters

min_pts the minimum number of neighbors

Definition at line 257 of file radius_outlier_removal.h.

References min_pts_radius_.

◆ setNumberOfThreads()

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setNumberOfThreads ( unsigned int nr_threads = 0 )

inline

Set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 152 of file radius_outlier_removal.h.

◆ setRadiusSearch() [1/2]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setRadiusSearch ( double radius )

inline

Set the radius of the sphere that will determine which points are neighbors.

The number of points within this distance from the query point will need to be equal or greater than setMinNeighborsInRadius() in order to be classified as an inlier point (i.e. will not be filtered).

Parameters

[in] radius The radius of the sphere for nearest neighbor searching.

Definition at line 102 of file radius_outlier_removal.h.

◆ setRadiusSearch() [2/2]

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setRadiusSearch ( double radius )

inline

Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering.

Parameters

radius the sphere radius that is to contain all k-nearest neighbors

Definition at line 240 of file radius_outlier_removal.h.

References search_radius_.

◆ setSearchMethod()

void pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::setSearchMethod ( const SearcherPtr & searcher )

inline

Provide a pointer to the search object.

Calling this is optional. If not called, the search method will be chosen automatically.

Parameters

[in] searcher a pointer to the spatial search object.

Definition at line 145 of file radius_outlier_removal.h.

Member Data Documentation

◆ min_pts_radius_

int pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::min_pts_radius_ {1}

protected

The minimum number of neighbors that a point needs to have in the given search radius to be considered an inlier.

Definition at line 278 of file radius_outlier_removal.h.

Referenced by getMinNeighborsInRadius(), and setMinNeighborsInRadius().

◆ search_radius_

double pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::search_radius_ {0.0}

protected

The nearest neighbors search radius for each point.

Definition at line 273 of file radius_outlier_removal.h.

Referenced by getRadiusSearch(), and setRadiusSearch().

◆ searcher_

KdTreePtr pcl::RadiusOutlierRemoval< pcl::PCLPointCloud2 >::searcher_

protected

A pointer to the spatial search object.

Definition at line 281 of file radius_outlier_removal.h.

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

pcl/filters/radius_outlier_removal.h
pcl/filters/impl/radius_outlier_removal.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ SearcherPtr

Constructor & Destructor Documentation

◆ RadiusOutlierRemoval() [1/2]

◆ RadiusOutlierRemoval() [2/2]

Member Function Documentation

◆ applyFilter() [1/3]

◆ applyFilter() [2/3]

◆ applyFilter() [3/3]

◆ applyFilterIndices()

◆ getMinNeighborsInRadius() [1/2]

◆ getMinNeighborsInRadius() [2/2]

◆ getRadiusSearch() [1/2]

◆ getRadiusSearch() [2/2]

◆ setMinNeighborsInRadius() [1/2]

◆ setMinNeighborsInRadius() [2/2]

◆ setNumberOfThreads()

◆ setRadiusSearch() [1/2]

◆ setRadiusSearch() [2/2]

◆ setSearchMethod()

Member Data Documentation

◆ min_pts_radius_

◆ search_radius_

◆ searcher_