42 #include <pcl/filters/filter_indices.h>
43 #include <pcl/search/pcl_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_;
205 search_radius_ (0.0), min_pts_radius_ (1)
207 filter_name_ =
"RadiusOutlierRemoval";
216 search_radius_ = radius;
223 return (search_radius_);
233 min_pts_radius_ = min_pts;
242 return (min_pts_radius_);
261 applyFilter (std::vector<int> &indices)
override;
265 #ifdef PCL_NO_PRECOMPILE
266 #include <pcl/filters/impl/radius_outlier_removal.hpp>
KdTreePtr searcher_
A pointer to the spatial search object.
double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
int min_pts_radius_
The minimum number of neighbors that a point needs to have in the given search radius to be considere...
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
void applyFilter(std::vector< int > &indices) override
Filtered results are indexed by an indices array.
RadiusOutlierRemoval filters points in a cloud based on the number of neighbors they have...
FilterIndices represents the base class for filters that are about binary point removal.
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.
shared_ptr< PointCloud< PointT > > Ptr
Filter represents the base filter class.
shared_ptr< Filter< PointT > > Ptr
typename PointCloud::Ptr PointCloudPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
typename pcl::search::Search< PointT >::Ptr SearcherPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
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...
shared_ptr< pcl::search::Search< PointT > > Ptr
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...
shared_ptr< const Filter< PointT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
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.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
typename PointCloud::ConstPtr PointCloudConstPtr