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_ ()
214 filter_name_ =
"RadiusOutlierRemoval";
223 search_radius_ = radius;
230 return (search_radius_);
240 min_pts_radius_ = min_pts;
249 return (min_pts_radius_);
265 applyFilter (PCLPointCloud2 &output);
269 #ifdef PCL_NO_PRECOMPILE
270 #include <pcl/filters/impl/radius_outlier_removal.hpp>
273 #endif // PCL_FILTERS_RADIUS_OUTLIER_REMOVAL_H_
std::string filter_name_
The filter name.
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
FilterIndices represents the base class for filters that are about binary point removal.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloud::ConstPtr PointCloudConstPtr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors for filtering...
pcl::search::Search< PointT >::Ptr SearcherPtr
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< RadiusOutlierRemoval< PointT > > Ptr
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have...
void setRadiusSearch(double radius)
Set the radius of the sphere that will determine which points are neighbors.
FilterIndices< PointT >::PointCloud PointCloud
void setMinNeighborsInRadius(int min_pts)
Set the number of neighbors that need to be present in order to be classified as an inlier...
boost::shared_ptr< ::pcl::PCLPointCloud2 const > PCLPointCloud2ConstPtr
double getRadiusSearch()
Get the radius of the sphere that will determine which points are neighbors.
boost::shared_ptr< const RadiusOutlierRemoval< PointT > > ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
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...
boost::shared_ptr< ::pcl::PCLPointCloud2 > PCLPointCloud2Ptr
void applyFilter(PointCloud &output)
Filtered results are stored in a separate point cloud.
RadiusOutlierRemoval(bool extract_removed_indices=false)
Constructor.
boost::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...
A point structure representing Euclidean xyz coordinates, and the RGB color.
void applyFilter(std::vector< int > &indices)
Filtered results are indexed by an indices array.
boost::shared_ptr< PointCloud< PointT > > Ptr
Filter represents the base filter class.
double search_radius_
The nearest neighbors search radius for each point.
PointCloud::Ptr PointCloudPtr
int getMinNeighborsInRadius()
Get the number of neighbors that need to be present in order to be classified as an inlier...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.