Point Cloud Library (PCL)
1.8.0
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ModelOutlierRemoval filters points in a cloud based on the distance between model and point. More...
#include <pcl/filters/model_outlier_removal.h>
Public Types | |
typedef pcl::PointCloud< pcl::Normal >::Ptr | PointCloudNPtr |
typedef pcl::PointCloud< pcl::Normal >::ConstPtr | PointCloudNConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef boost::shared_ptr< FilterIndices< PointT > > | Ptr |
typedef boost::shared_ptr< const FilterIndices< PointT > > | ConstPtr |
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typedef boost::shared_ptr< Filter< PointT > > | Ptr |
typedef boost::shared_ptr< const Filter< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
ModelOutlierRemoval (bool extract_removed_indices=false) | |
Constructor. More... | |
void | setModelCoefficients (const pcl::ModelCoefficients model_coefficients) |
sets the models coefficients More... | |
pcl::ModelCoefficients | getModelCoefficients () const |
returns the models coefficients More... | |
void | setModelType (pcl::SacModel model) |
Set the type of SAC model used. More... | |
pcl::SacModel | getModelType () const |
Get the type of SAC model used. More... | |
void | setThreshold (float thresh) |
Set the thresholdfunction. More... | |
float | getThreshold () const |
Get the thresholdfunction. More... | |
void | setInputNormals (const PointCloudNConstPtr normals_ptr) |
Set the normals cloud. More... | |
PointCloudNConstPtr | getInputNormals () const |
Get the normals cloud. More... | |
void | setNormalDistanceWeight (const double weight) |
Set the normals distance weight. More... | |
double | getNormalDistanceWeight () const |
get the normal distance weight More... | |
void | setThresholdFunction (boost::function< bool(double)> thresh) |
Register a different threshold function. More... | |
template<typename T > | |
void | setThresholdFunction (bool(T::*thresh_function)(double), T &instance) |
Register a different threshold function. More... | |
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FilterIndices (bool extract_removed_indices=false) | |
Constructor. More... | |
virtual | ~FilterIndices () |
Empty virtual destructor. More... | |
void | filter (PointCloud &output) |
void | filter (std::vector< int > &indices) |
Calls the filtering method and returns the filtered point cloud indices. More... | |
void | setNegative (bool negative) |
Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... | |
bool | getNegative () |
Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... | |
void | setKeepOrganized (bool keep_organized) |
Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More... | |
bool | getKeepOrganized () |
Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More... | |
void | setUserFilterValue (float value) |
Provide a value that the filtered points should be set to instead of removing them. More... | |
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Filter (bool extract_removed_indices=false) | |
Empty constructor. More... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () |
Get the point indices being removed. More... | |
void | getRemovedIndices (PointIndices &pi) |
Get the point indices being removed. More... | |
void | filter (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual 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. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Types | |
typedef FilterIndices< PointT >::PointCloud | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef SampleConsensusModel< PointT >::Ptr | SampleConsensusModelPtr |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Filtered results are stored in a separate point cloud. More... | |
void | applyFilter (std::vector< int > &indices) |
Filtered results are indexed by an indices array. More... | |
void | applyFilterIndices (std::vector< int > &indices) |
Filtered results are indexed by an indices array. More... | |
bool | checkSingleThreshold (double value) |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
double | normals_distance_weight_ |
PointCloudNConstPtr | cloud_normals_ |
SampleConsensusModelPtr | model_ |
The model used to calculate distances. More... | |
float | thresh_ |
The threshold used to seperate outliers (removed_indices) from inliers (indices) More... | |
Eigen::VectorXf | model_coefficients_ |
The model coefficients. More... | |
pcl::SacModel | model_type_ |
The type of model to use (user given parameter). More... | |
boost::function< bool(double)> | threshold_function_ |
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bool | negative_ |
False = normal filter behavior (default), true = inverted behavior. More... | |
bool | keep_organized_ |
False = remove points (default), true = redefine points, keep structure. More... | |
float | user_filter_value_ |
The user given value that the filtered point dimensions should be set to (default = NaN). More... | |
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IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
std::string | filter_name_ |
The filter name. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
ModelOutlierRemoval filters points in a cloud based on the distance between model and point.
Iterates through the entire input once, automatically filtering non-finite points and the points outside the model specified by setSampleConsensusModelPointer() and the threshold specified by setThreholdFunctionPointer().
Usage example:
Definition at line 69 of file model_outlier_removal.h.
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Definition at line 72 of file model_outlier_removal.h.
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Definition at line 74 of file model_outlier_removal.h.
typedef pcl::PointCloud<pcl::Normal>::ConstPtr pcl::ModelOutlierRemoval< PointT >::PointCloudNConstPtr |
Definition at line 79 of file model_outlier_removal.h.
typedef pcl::PointCloud<pcl::Normal>::Ptr pcl::ModelOutlierRemoval< PointT >::PointCloudNPtr |
Definition at line 78 of file model_outlier_removal.h.
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Definition at line 73 of file model_outlier_removal.h.
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Definition at line 75 of file model_outlier_removal.h.
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Constructor.
[in] | extract_removed_indices | Set to true if you want to be able to extract the indices of points being removed (default = false). |
Definition at line 85 of file model_outlier_removal.h.
References pcl::Filter< PointT >::filter_name_, pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_, pcl::ModelOutlierRemoval< PointT >::setThresholdFunction(), and pcl::ModelOutlierRemoval< PointT >::thresh_.
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Filtered results are stored in a separate point cloud.
[out] | output | The resultant point cloud. |
Implements pcl::FilterIndices< PointT >.
Definition at line 146 of file model_outlier_removal.hpp.
References pcl::copyPointCloud(), pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::points.
Referenced by pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().
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Filtered results are indexed by an indices array.
[out] | indices | The resultant indices. |
Implements pcl::FilterIndices< PointT >.
Definition at line 213 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::applyFilterIndices().
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Filtered results are indexed by an indices array.
[out] | indices | The resultant indices. |
Definition at line 171 of file model_outlier_removal.hpp.
References pcl::isFinite().
Referenced by pcl::ModelOutlierRemoval< PointT >::applyFilter().
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Definition at line 242 of file model_outlier_removal.h.
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Get the normals cloud.
Definition at line 154 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::cloud_normals_.
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returns the models coefficients
Definition at line 108 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::model_coefficients_, and pcl::ModelCoefficients::values.
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Get the type of SAC model used.
Definition at line 126 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::model_type_.
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get the normal distance weight
Definition at line 168 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_.
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Get the thresholdfunction.
Definition at line 140 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::thresh_.
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Set the normals cloud.
Definition at line 147 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::cloud_normals_.
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sets the models coefficients
Definition at line 96 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::model_coefficients_, and pcl::ModelCoefficients::values.
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Set the type of SAC model used.
Definition at line 119 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::model_type_.
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Set the normals distance weight.
Definition at line 161 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_.
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Set the thresholdfunction.
Definition at line 133 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::thresh_.
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Register a different threshold function.
[in] | thresh | pointer to a threshold function |
Definition at line 177 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::threshold_function_.
Referenced by pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), and pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().
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Register a different threshold function.
[in] | thresh_function | pointer to a threshold function |
[in] | instance |
Definition at line 187 of file model_outlier_removal.h.
References pcl::ModelOutlierRemoval< PointT >::applyFilter(), and pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().
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Definition at line 226 of file model_outlier_removal.h.
Referenced by pcl::ModelOutlierRemoval< PointT >::getInputNormals(), and pcl::ModelOutlierRemoval< PointT >::setInputNormals().
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The model used to calculate distances.
Definition at line 229 of file model_outlier_removal.h.
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The model coefficients.
Definition at line 235 of file model_outlier_removal.h.
Referenced by pcl::ModelOutlierRemoval< PointT >::getModelCoefficients(), and pcl::ModelOutlierRemoval< PointT >::setModelCoefficients().
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The type of model to use (user given parameter).
Definition at line 238 of file model_outlier_removal.h.
Referenced by pcl::ModelOutlierRemoval< PointT >::getModelType(), and pcl::ModelOutlierRemoval< PointT >::setModelType().
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Definition at line 225 of file model_outlier_removal.h.
Referenced by pcl::ModelOutlierRemoval< PointT >::getNormalDistanceWeight(), pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), and pcl::ModelOutlierRemoval< PointT >::setNormalDistanceWeight().
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The threshold used to seperate outliers (removed_indices) from inliers (indices)
Definition at line 232 of file model_outlier_removal.h.
Referenced by pcl::ModelOutlierRemoval< PointT >::getThreshold(), pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), and pcl::ModelOutlierRemoval< PointT >::setThreshold().
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Definition at line 239 of file model_outlier_removal.h.
Referenced by pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().