42 #include <pcl/filters/filter_indices.h>
43 #include <pcl/search/search.h>
70 template<
typename Po
intT>
81 using Ptr = shared_ptr<RadiusOutlierRemoval<PointT> >;
82 using ConstPtr = shared_ptr<const RadiusOutlierRemoval<PointT> >;
103 search_radius_ = radius;
114 return (search_radius_);
125 min_pts_radius_ = min_pts;
136 return (min_pts_radius_);
176 double search_radius_{0.0};
179 int min_pts_radius_{1};
209 filter_name_ =
"RadiusOutlierRemoval";
218 search_radius_ = radius;
225 return (search_radius_);
235 min_pts_radius_ = min_pts;
244 return (min_pts_radius_);
249 double search_radius_{0.0};
254 int min_pts_radius_{1};
263 applyFilter (
Indices &indices)
override;
267 #ifdef PCL_NO_PRECOMPILE
268 #include <pcl/filters/impl/radius_outlier_removal.hpp>
KdTreePtr searcher_
A pointer to the spatial search object.
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
shared_ptr< PointCloud< PointT > > Ptr
double getRadiusSearch()
Get the sphere radius used for determining the k-nearest neighbors.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
RadiusOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
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.
Filter represents the base filter class.
shared_ptr< Filter< PointT > > Ptr
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
void applyFilter(Indices &indices) override
Filtered results are indexed by an indices array.
typename PointCloud::Ptr PointCloudPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setSearchMethod(const SearcherPtr &searcher)
Provide a pointer to the search object.
typename pcl::search::Search< PointT >::Ptr SearcherPtr
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
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...
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...
PCLPointCloud2::Ptr PCLPointCloud2Ptr
typename PointCloud::ConstPtr PointCloudConstPtr