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_);
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_);
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< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
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.
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
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.
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...
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.