Radius Filtering

Filters points based on the number of neighbors within a given radius. More...

Functions
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZ.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointNormal.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZRGB.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZRGBNormal.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZI.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZINormal.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZ with indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointNormal with indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZRGB with indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZRGBNormal with indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZI with indices.
pcl::IndicesPtr RTABMAP_CORE_EXPORT	rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Radius filtering for point cloud of type pcl::PointXYZINormal with indices.

Detailed Description

Filters points based on the number of neighbors within a given radius.

This function performs a radius-based outlier filtering on a point cloud. It returns a set of point indices where each corresponding point has more than minNeighborsInRadius neighboring points within the specified radiusSearch.

If an input index list is provided (indices is non-empty), the filtering is applied only to those points. Otherwise, the function processes the entire cloud.

Parameters

cloud	The input point cloud.
indices	An optional vector of indices specifying the subset of points to process.
radiusSearch	The radius within which to search for neighboring points.
minNeighborsInRadius	The minimum number of neighbors required within the radius for a point to be retained.

Returns

A vector of indices of points that passed the filtering criteria.

Note

Uses a KdTree for efficient neighbor search. The +1 in minNeighborsInRadius + 1 accounts for the point itself being included in the neighbor list.