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

#include <pcl/filters/statistical_outlier_removal.h>

Inheritance diagram for pcl::StatisticalOutlierRemoval< PointT >:

Collaboration diagram for pcl::StatisticalOutlierRemoval< PointT >:

Public Types
typedef boost::shared_ptr < Filter< PointT > >	Ptr
typedef boost::shared_ptr < const Filter< PointT > >	ConstPtr
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 inliers should be returned (true), or the outliers (false).
bool	getNegative ()
	Get the value of the internal negative_ parameter.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr 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 IndicesConstPtr &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.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointT>
class pcl::StatisticalOutlierRemoval< PointT >

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 59 of file statistical_outlier_removal.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter< PointT >::ConstPtr [inherited]

Definition at line 76 of file filter.h.

template<typename PointT>

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

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 81 of file pcl_base.h.

template<typename PointT>

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

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 80 of file pcl_base.h.

template<typename PointT>

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter< PointT >::Ptr [inherited]

Definition at line 75 of file filter.h.

Constructor & Destructor Documentation

template<typename PointT >

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

Empty constructor.

Definition at line 78 of file statistical_outlier_removal.h.

Member Function Documentation

template<typename PointT>

void pcl::Filter< PointT >::filter ( PointCloud & output ) [inline, inherited]

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

Parameters:

[out] output the resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices< PointT >.

Definition at line 102 of file filter.h.

template<typename PointT>

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

Get a pointer to the vector of indices used.

Definition at line 192 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 109 of file pcl_base.h.

template<typename PointT >

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

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

Definition at line 95 of file statistical_outlier_removal.h.

template<typename PointT >

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

Get the value of the internal negative_ parameter.

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

Definition at line 132 of file statistical_outlier_removal.h.

template<typename PointT>

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

Get the point indices being removed.

Definition at line 93 of file filter.h.

template<typename PointT >

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

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

Definition at line 114 of file statistical_outlier_removal.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 199 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::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 115 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & 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 126 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::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 137 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 153 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >, and pcl::GeneralizedIterativeClosestPoint< PointT, PointT >.

Definition at line 105 of file pcl_base.h.

template<typename PointT >

void pcl::StatisticalOutlierRemoval< PointT >::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 88 of file statistical_outlier_removal.h.

template<typename PointT >

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

Set whether the inliers should be returned (true), or the outliers (false).

Parameters:

negative true if the inliers should be returned, false otherwise

Definition at line 123 of file statistical_outlier_removal.h.

template<typename PointT >

void pcl::StatisticalOutlierRemoval< PointT >::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 107 of file statistical_outlier_removal.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/filters/include/pcl/filters/statistical_outlier_removal.h
/builddir/build/BUILD/PCL-1.4.0-Source/filters/include/pcl/filters/impl/statistical_outlier_removal.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::StatisticalOutlierRemoval< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::StatisticalOutlierRemoval< PointT >