Point Cloud Library (PCL)  1.14.1-dev
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pcl::ModelOutlierRemoval< PointT > Class Template Reference

ModelOutlierRemoval filters points in a cloud based on the distance between model and point. More...

#include <pcl/filters/model_outlier_removal.h>

+ Inheritance diagram for pcl::ModelOutlierRemoval< PointT >:
+ Collaboration diagram for pcl::ModelOutlierRemoval< PointT >:

Public Types

using PointCloudNPtr = pcl::PointCloud< pcl::Normal >::Ptr
 
using PointCloudNConstPtr = pcl::PointCloud< pcl::Normal >::ConstPtr
 
- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using Ptr = shared_ptr< FilterIndices< PointT > >
 
using ConstPtr = shared_ptr< const FilterIndices< PointT > >
 
- Public Types inherited from pcl::Filter< PointT >
using Ptr = shared_ptr< Filter< PointT > >
 
using ConstPtr = shared_ptr< const Filter< PointT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

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 (std::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...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
void filter (Indices &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 () const
 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 () const
 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...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
IndicesConstPtr const getRemovedIndices () const
 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr 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 PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

using PointCloud = typename FilterIndices< PointT >::PointCloud
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using SampleConsensusModelPtr = typename SampleConsensusModel< PointT >::Ptr
 

Protected Member Functions

void applyFilter (Indices &indices) override
 Filtered results are indexed by an indices array. More...
 
void applyFilterIndices (Indices &indices)
 Filtered results are indexed by an indices array. More...
 
bool checkSingleThreshold (double value)
 
- Protected Member Functions inherited from pcl::FilterIndices< PointT >
void applyFilter (PointCloud &output) override
 Abstract filter method for point cloud. More...
 
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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 separate 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...
 
std::function< bool(double)> threshold_function_
 
- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_ {false}
 False = normal filter behavior (default), true = inverted behavior. More...
 
bool keep_organized_ {false}
 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...
 
- Protected Attributes inherited from pcl::Filter< PointT >
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...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
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...
 

Detailed Description

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

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

Usage example:

model_coeff.values.resize(4);
model_coeff.values[0] = 0;
model_coeff.values[1] = 0;
model_coeff.values[2] = 1;
model_coeff.values[3] = 0.5;
filter.setModelCoefficients (model_coeff);
filter.setThreshold (0.1);
filter.setModelType (pcl::SACMODEL_PLANE);
filter.setInputCloud (*cloud_in);
filter.setNegative (false);
filter.filter (*cloud_out);
void filter(Indices &indices)
Calls the filtering method and returns the filtered point cloud indices.
ModelOutlierRemoval filters points in a cloud based on the distance between model and point.
@ SACMODEL_PLANE
Definition: model_types.h:47
std::vector< float > values

Definition at line 72 of file model_outlier_removal.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >
using pcl::ModelOutlierRemoval< PointT >::PointCloud = typename FilterIndices<PointT>::PointCloud
protected

Definition at line 75 of file model_outlier_removal.h.

◆ PointCloudConstPtr

template<typename PointT >
using pcl::ModelOutlierRemoval< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr
protected

Definition at line 77 of file model_outlier_removal.h.

◆ PointCloudNConstPtr

Definition at line 82 of file model_outlier_removal.h.

◆ PointCloudNPtr

Definition at line 81 of file model_outlier_removal.h.

◆ PointCloudPtr

template<typename PointT >
using pcl::ModelOutlierRemoval< PointT >::PointCloudPtr = typename PointCloud::Ptr
protected

Definition at line 76 of file model_outlier_removal.h.

◆ SampleConsensusModelPtr

template<typename PointT >
using pcl::ModelOutlierRemoval< PointT >::SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr
protected

Definition at line 78 of file model_outlier_removal.h.

Constructor & Destructor Documentation

◆ ModelOutlierRemoval()

template<typename PointT >
pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval ( bool  extract_removed_indices = false)
inline

Constructor.

Parameters
[in]extract_removed_indicesSet to true if you want to be able to extract the indices of points being removed (default = false).

Definition at line 88 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_.

Member Function Documentation

◆ applyFilter()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::applyFilter ( Indices indices)
inlineoverrideprotectedvirtual

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 210 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::applyFilterIndices().

◆ applyFilterIndices()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::applyFilterIndices ( Indices indices)
protected

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Definition at line 145 of file model_outlier_removal.hpp.

References pcl::isFinite().

Referenced by pcl::ModelOutlierRemoval< PointT >::applyFilter().

◆ checkSingleThreshold()

template<typename PointT >
bool pcl::ModelOutlierRemoval< PointT >::checkSingleThreshold ( double  value)
inlineprotected

◆ getInputNormals()

template<typename PointT >
PointCloudNConstPtr pcl::ModelOutlierRemoval< PointT >::getInputNormals ( ) const
inline

Get the normals cloud.

Definition at line 157 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::cloud_normals_.

◆ getModelCoefficients()

template<typename PointT >
pcl::ModelCoefficients pcl::ModelOutlierRemoval< PointT >::getModelCoefficients ( ) const
inline

returns the models coefficients

Definition at line 111 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_coefficients_, and pcl::ModelCoefficients::values.

◆ getModelType()

template<typename PointT >
pcl::SacModel pcl::ModelOutlierRemoval< PointT >::getModelType ( ) const
inline

Get the type of SAC model used.

Definition at line 129 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_type_.

◆ getNormalDistanceWeight()

template<typename PointT >
double pcl::ModelOutlierRemoval< PointT >::getNormalDistanceWeight ( ) const
inline

get the normal distance weight

Definition at line 171 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_.

◆ getThreshold()

template<typename PointT >
float pcl::ModelOutlierRemoval< PointT >::getThreshold ( ) const
inline

Get the thresholdfunction.

Definition at line 143 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::thresh_.

◆ setInputNormals()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::setInputNormals ( const PointCloudNConstPtr  normals_ptr)
inline

Set the normals cloud.

Definition at line 150 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::cloud_normals_.

◆ setModelCoefficients()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::setModelCoefficients ( const pcl::ModelCoefficients model_coefficients)
inline

sets the models coefficients

Definition at line 99 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_coefficients_, and pcl::ModelCoefficients::values.

◆ setModelType()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::setModelType ( pcl::SacModel  model)
inline

Set the type of SAC model used.

Definition at line 122 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::model_type_.

◆ setNormalDistanceWeight()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::setNormalDistanceWeight ( const double  weight)
inline

Set the normals distance weight.

Definition at line 164 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_.

◆ setThreshold()

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::setThreshold ( float  thresh)
inline

Set the thresholdfunction.

Definition at line 136 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::thresh_.

◆ setThresholdFunction() [1/2]

template<typename PointT >
template<typename T >
void pcl::ModelOutlierRemoval< PointT >::setThresholdFunction ( bool(T::*)(double)  thresh_function,
T &  instance 
)
inline

Register a different threshold function.

Parameters
[in]thresh_functionpointer to a threshold function
[in]instance

Definition at line 190 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().

◆ setThresholdFunction() [2/2]

template<typename PointT >
void pcl::ModelOutlierRemoval< PointT >::setThresholdFunction ( std::function< bool(double)>  thresh)
inline

Register a different threshold function.

Parameters
[in]threshpointer to a threshold function

Definition at line 180 of file model_outlier_removal.h.

References pcl::ModelOutlierRemoval< PointT >::threshold_function_.

Referenced by pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), and pcl::ModelOutlierRemoval< PointT >::setThresholdFunction().

Member Data Documentation

◆ cloud_normals_

template<typename PointT >
PointCloudNConstPtr pcl::ModelOutlierRemoval< PointT >::cloud_normals_
protected

◆ model_

template<typename PointT >
SampleConsensusModelPtr pcl::ModelOutlierRemoval< PointT >::model_
protected

The model used to calculate distances.

Definition at line 226 of file model_outlier_removal.h.

◆ model_coefficients_

template<typename PointT >
Eigen::VectorXf pcl::ModelOutlierRemoval< PointT >::model_coefficients_
protected

◆ model_type_

template<typename PointT >
pcl::SacModel pcl::ModelOutlierRemoval< PointT >::model_type_
protected

The type of model to use (user given parameter).

Definition at line 235 of file model_outlier_removal.h.

Referenced by pcl::ModelOutlierRemoval< PointT >::getModelType(), and pcl::ModelOutlierRemoval< PointT >::setModelType().

◆ normals_distance_weight_

template<typename PointT >
double pcl::ModelOutlierRemoval< PointT >::normals_distance_weight_
protected

◆ thresh_

template<typename PointT >
float pcl::ModelOutlierRemoval< PointT >::thresh_
protected

◆ threshold_function_

template<typename PointT >
std::function<bool (double)> pcl::ModelOutlierRemoval< PointT >::threshold_function_
protected

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