StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data. More...

#include <pcl/filters/statistical_outlier_removal.h>

Inheritance diagram for pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >:

Collaboration diagram for pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >:

Public Types
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	StatisticalOutlierRemoval (bool extract_removed_indices=false)
	Empty constructor.
void	setMeanK (int nr_k)
	Set the number of points (k) to use for mean distance estimation.
int	getMeanK ()
	Get the number of points to use for mean distance estimation.
void	setStddevMulThresh (double std_mul)
	Set the standard deviation multiplier threshold.
double	getStddevMulThresh ()
	Get the standard deviation multiplier threshold as set by the user.
void	setNegative (bool negative)
	Set whether the indices should be returned, or all points _except_ the indices.
bool	getNegative ()
	Get the value of the internal negative_ parameter.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data.
std::string const	getFilterFieldName ()
	Get the name of the field used for filtering.
void	setFilterLimits (const double &limit_min, const double &limit_max)
	Set the field filter limits.
void	getFilterLimits (double &limit_min, double &limit_max)
	Get the field filter limits (min/max) set by the user.
void	setFilterLimitsNegative (const bool limit_negative)
	Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).
void	getFilterLimitsNegative (bool &limit_negative)
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
bool	getFilterLimitsNegative ()
void	filter (PointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.
void	setInputCloud (const PointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloud2ConstPtr const	getInputCloud ()
	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 ()
	Get a pointer to the vector of indices used.

Detailed Description

template<>
class pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >

StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.

For more information check:

R. B. Rusu, Z. C. Marton, N. Blodow, M. Dolha, and M. Beetz. Towards 3D Point Cloud Based Object Maps for Household Environments Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge), 2008.

Note:: setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.

Author:: Radu Bogdan Rusu

Definition at line 173 of file statistical_outlier_removal.h.

Member Typedef Documentation

typedef PointIndices::ConstPtr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesConstPtr [inherited]

Definition at line 264 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesPtr [inherited]

Definition at line 263 of file pcl_base.h.

Constructor & Destructor Documentation

pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::StatisticalOutlierRemoval ( bool extract_removed_indices = false ) [inline]

Empty constructor.

Definition at line 190 of file statistical_outlier_removal.h.

Member Function Documentation

void pcl::Filter< sensor_msgs::PointCloud2 >::filter ( PointCloud2 & output ) [inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:

output the resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices< sensor_msgs::PointCloud2 >.

std::string const pcl::Filter< sensor_msgs::PointCloud2 >::getFilterFieldName ( ) [inline, inherited]

Get the name of the field used for filtering.

Definition at line 262 of file filter.h.

void pcl::Filter< sensor_msgs::PointCloud2 >::getFilterLimits	(	double &	limit_min,
		double &	limit_max
	)		`[inline, inherited]`

Get the field filter limits (min/max) set by the user.

The default values are -FLT_MAX, FLT_MAX.

Definition at line 280 of file filter.h.

void pcl::Filter< sensor_msgs::PointCloud2 >::getFilterLimitsNegative ( bool & limit_negative ) [inline, inherited]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Definition at line 298 of file filter.h.

bool pcl::Filter< sensor_msgs::PointCloud2 >::getFilterLimitsNegative ( ) [inline, inherited]

Definition at line 303 of file filter.h.

IndicesPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 312 of file pcl_base.h.

PointCloud2ConstPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 286 of file pcl_base.h.

int pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getMeanK ( ) [inline]

Get the number of points to use for mean distance estimation.

Definition at line 208 of file statistical_outlier_removal.h.

bool pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getNegative ( ) [inline]

Get the value of the internal negative_ parameter.

If true, all points _except_ the input indices will be returned.

Definition at line 245 of file statistical_outlier_removal.h.

IndicesConstPtr const pcl::Filter< sensor_msgs::PointCloud2 >::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

Definition at line 245 of file filter.h.

double pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::getStddevMulThresh ( ) [inline]

Get the standard deviation multiplier threshold as set by the user.

Definition at line 227 of file statistical_outlier_removal.h.

void pcl::Filter< sensor_msgs::PointCloud2 >::setFilterFieldName ( const std::string & field_name ) [inline, inherited]

Provide the name of the field to be used for filtering data.

In conjunction with setFilterLimits, points having values outside this interval will be discarded.

Parameters:

field_name the name of the field that contains values used for filtering

Definition at line 255 of file filter.h.

void pcl::Filter< sensor_msgs::PointCloud2 >::setFilterLimits	(	const double &	limit_min,
		const double &	limit_max
	)		`[inline, inherited]`

Set the field filter limits.

All points having field values outside this interval will be discarded.

Parameters:

limit_min	the minimum allowed field value
limit_max	the maximum allowed field value

Definition at line 272 of file filter.h.

void pcl::Filter< sensor_msgs::PointCloud2 >::setFilterLimitsNegative ( const bool limit_negative ) [inline, inherited]

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).

Default: false.

Parameters:

limit_negative return data inside the interval (false) or outside (true)

Definition at line 291 of file filter.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 292 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 303 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setInputCloud ( const PointCloud2ConstPtr & cloud ) [inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setMeanK ( int nr_k ) [inline]

Set the number of points (k) to use for mean distance estimation.

Parameters:

nr_k	the number of points to use for mean distance estimation

Definition at line 201 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setNegative ( bool negative ) [inline]

Set whether the indices should be returned, or all points _except_ the indices.

Parameters:

negative true if all points _except_ the input indices will be returned, false otherwise

Definition at line 236 of file statistical_outlier_removal.h.

void pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >::setStddevMulThresh ( double std_mul ) [inline]

Set the standard deviation multiplier threshold.

All points outside the

$\mu \pm \sigma \cdot std\_mul$

will be considered outliers, where $\mu$ is the estimated mean, and $\sigma$ is the standard deviation.

Parameters:

std_mul the standard deviation multiplier threshold

Definition at line 220 of file statistical_outlier_removal.h.

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

/builddir/build/BUILD/PCL-1.3.1-Source/filters/include/pcl/filters/statistical_outlier_removal.h

Public Types

Public Member Functions

Detailed Description

template<> class pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<>
class pcl::StatisticalOutlierRemoval< sensor_msgs::PointCloud2 >