#include <filter.h>

Public Member Functions
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	removeNaNPoints (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float min_val, float max_val)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	voxelGrid (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float leaf_size)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	statisticalOutlierRemoval (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &input, float mean, float std_dev)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	radiusOutlineRemoval (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float radius, int neighbors)

pcl::PointCloud< pcl::PointNormal >::Ptr	removeNaNNormals (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	matrixTransform (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, char axis, float theta, float translation, bool centroid)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	medianFilter (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)

pcl::PointCloud< pcl::PointNormal >::Ptr	movingLeastSquaresSmooth (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	movingLeastSquaresUpsample (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	applyFilters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float min_val, float max_val, float leaf_size, float radius, int neighbors)

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	bilateralFilter (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)

Detailed Description

A filter class which holds many useful filters

Member Function Documentation

§ applyFilters()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::applyFilters	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	min_val,
		float	max_val,
		float	leaf_size,
		float	radius,
		int	neighbors
	)

Apply the selected filters to the point cloud. Modify as required.

Parameters

[in]	cloud	input point cloud
[in]	min_val	minimum value to apply the filter
[in]	max_val	maximum value to apply the filter
[in]	leaf_size	the size of leaf
[in]	radius	radius in meters

§ bilateralFilter()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::bilateralFilter ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud )

Apply bilateral filter to the point cloud. It smoothes the point cloud while preserving edges.

Parameters

[in] cloud input point cloud

§ matrixTransform()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::matrixTransform	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		char	axis,
		float	theta,
		float	translation,
		bool	centroid
	)

Apply Eigen Affine3D Matrix transformation to the point cloud.

Parameters

[in]	cloud	input point cloud
[in]	axis	the axis to rotate the cloud
[in]	theta	the angle in radians
[in]	translation	apply translation if needed, otherwise pass zero
[in]	centroid	boolean value where if true: rotate around centroid if false: rotate around origin

§ medianFilter()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::medianFilter ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud )

Apply Median Filter to the point cloud

Parameters

[in] cloud input point cloud

§ movingLeastSquaresSmooth()

pcl::PointCloud< pcl::PointNormal >::Ptr Filter::movingLeastSquaresSmooth ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud )

Smooth Surface Normals using moving least squares algorithm. Returns a pointer to surface normals

Parameters

[in] cloud input point cloud

§ movingLeastSquaresUpsample()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::movingLeastSquaresUpsample ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud )

Upsample the point cloud using least squares algorithm. Make sure to apply voxel grid filter first if the cloud is large.

Parameters

[in] cloud input point cloud

§ passThrough()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::passThrough	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	min_val,
		float	max_val
	)

Apply passthrough filter to get rid of unnecessary Z values. (background removal) Even background removal is not necessary, apply the min and max values as zero to remove blank points generated from libfreenect drivers.

Parameters

[in]	cloud	input point cloud
[in]	min_val	minimum value to apply the filter
[in]	max_val	maximum value to apply the filter

§ radiusOutlineRemoval()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::radiusOutlineRemoval	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	radius,
		int	neighbors
	)

The user specifies a number of neighbors which every indice must have within a specified radius to remain in the PointCloud. For example if 1 neighbor is specified, only the yellow point will be removed from the PointCloud. If 2 neighbors are specified then both the yellow and green points will be removed from the PointCloud.

Parameters

[in]	cloud	input point cloud
[in]	radius	radius in meter
[in]	neighbors	number of neighbors required

§ removeNaNNormals()

pcl::PointCloud< pcl::PointNormal >::Ptr Filter::removeNaNNormals ( const pcl::PointCloud< pcl::PointNormal >::Ptr & cloud )

Remove NaN values from surface normals

Parameters

[in] cloud input point cloud

§ removeNaNPoints()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::removeNaNPoints ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud )

Remove NaN values generated by pcl algorithms.

Parameters

[in] points input point cloud

§ statisticalOutlierRemoval()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::statisticalOutlierRemoval	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	input,
		float	mean,
		float	std_dev
	)

remove noisy measurements, e.g. outliers, from a point cloud dataset using statistical analysis techniques.

Parameters

[in]	cloud	input point cloud
[in]	mean	the number of neighbors to analyze for each point
[in]	std_dev	the standard deviation multiplier

§ voxelGrid()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr Filter::voxelGrid	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	leaf_size
	)

Apply Voxel Grid filter to downsample data without losing necessary information

Parameters

[in]	cloud	input point cloud
[in]	leaf_size	the size of leaf

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

/home/serhat/Work/Kinect/RaspiKinect/src/filter.h
/home/serhat/Work/Kinect/RaspiKinect/src/filter.cpp

Public Member Functions

Detailed Description

Member Function Documentation

§ applyFilters()

§ bilateralFilter()

§ matrixTransform()

§ medianFilter()

§ movingLeastSquaresSmooth()

§ movingLeastSquaresUpsample()

§ passThrough()

§ radiusOutlineRemoval()

§ removeNaNNormals()

§ removeNaNPoints()

§ statisticalOutlierRemoval()

§ voxelGrid()