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 PointT &	operator[] (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:

pcl::ModelCoefficients model_coeff;
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;
pcl::ModelOutlierRemoval<pcl::PointXYZ> filter;
filter.setModelCoefficients (model_coeff);
filter.setThreshold (0.1);
filter.setModelType (pcl::SACMODEL_PLANE);
filter.setInputCloud (*cloud_in);
filter.setNegative (false);
filter.filter (*cloud_out);

Definition at line 73 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 76 of file model_outlier_removal.h.

◆ PointCloudConstPtr

template<typename PointT >

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

protected

Definition at line 78 of file model_outlier_removal.h.

◆ PointCloudNConstPtr

template<typename PointT >

using pcl::ModelOutlierRemoval< PointT >::PointCloudNConstPtr = pcl::PointCloud<pcl::Normal>::ConstPtr

Definition at line 83 of file model_outlier_removal.h.

◆ PointCloudNPtr

template<typename PointT >

using pcl::ModelOutlierRemoval< PointT >::PointCloudNPtr = pcl::PointCloud<pcl::Normal>::Ptr

Definition at line 82 of file model_outlier_removal.h.

◆ PointCloudPtr

template<typename PointT >

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

protected

Definition at line 77 of file model_outlier_removal.h.

◆ SampleConsensusModelPtr

template<typename PointT >

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

protected

Definition at line 79 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_indices Set to true if you want to be able to extract the indices of points being removed (default = false).

Definition at line 89 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] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 211 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] indices The 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

Definition at line 240 of file model_outlier_removal.h.

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

◆ getInputNormals()

template<typename PointT >

PointCloudNConstPtr pcl::ModelOutlierRemoval< PointT >::getInputNormals ( ) const

inline

Get the normals cloud.

Definition at line 158 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 112 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 130 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 172 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 144 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 151 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 100 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 123 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 165 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 137 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_function	pointer to a threshold function
[in]	instance

Definition at line 191 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] thresh pointer to a threshold function

Definition at line 181 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

Definition at line 224 of file model_outlier_removal.h.

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

◆ model_

template<typename PointT >

SampleConsensusModelPtr pcl::ModelOutlierRemoval< PointT >::model_

protected

The model used to calculate distances.

Definition at line 227 of file model_outlier_removal.h.

◆ model_coefficients_

template<typename PointT >

Eigen::VectorXf pcl::ModelOutlierRemoval< PointT >::model_coefficients_

protected

The model coefficients.

Definition at line 233 of file model_outlier_removal.h.

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

◆ 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 236 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

Definition at line 223 of file model_outlier_removal.h.

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

◆ thresh_

template<typename PointT >

float pcl::ModelOutlierRemoval< PointT >::thresh_

protected

The threshold used to separate outliers (removed_indices) from inliers (indices)

Definition at line 230 of file model_outlier_removal.h.

Referenced by pcl::ModelOutlierRemoval< PointT >::checkSingleThreshold(), pcl::ModelOutlierRemoval< PointT >::getThreshold(), pcl::ModelOutlierRemoval< PointT >::ModelOutlierRemoval(), and pcl::ModelOutlierRemoval< PointT >::setThreshold().

◆ threshold_function_

template<typename PointT >

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

protected

Definition at line 237 of file model_outlier_removal.h.

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

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

pcl/filters/model_outlier_removal.h
pcl/filters/impl/model_outlier_removal.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ PointCloudPtr

◆ SampleConsensusModelPtr

Constructor & Destructor Documentation

◆ ModelOutlierRemoval()

Member Function Documentation

◆ applyFilter()

◆ applyFilterIndices()

◆ checkSingleThreshold()

◆ getInputNormals()

◆ getModelCoefficients()

◆ getModelType()

◆ getNormalDistanceWeight()

◆ getThreshold()

◆ setInputNormals()

◆ setModelCoefficients()

◆ setModelType()

◆ setNormalDistanceWeight()

◆ setThreshold()

◆ setThresholdFunction() [1/2]

◆ setThresholdFunction() [2/2]

Member Data Documentation

◆ cloud_normals_

◆ model_

◆ model_coefficients_

◆ model_type_

◆ normals_distance_weight_

◆ thresh_

◆ threshold_function_

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