42 #include <pcl/filters/filter_indices.h>
43 #include <pcl/search/pcl_search.h>
79 template<
typename Po
intT>
90 using Ptr = shared_ptr<StatisticalOutlierRemoval<PointT> >;
91 using ConstPtr = shared_ptr<const StatisticalOutlierRemoval<PointT> >;
132 std_mul_ = stddev_mult;
215 filter_name_ =
"StatisticalOutlierRemoval";
266 applyFilter (std::vector<int> &indices)
override;
277 generateStatistics (
double& mean,
double& variance,
double& stddev, std::vector<float>& distances);
281 #ifdef PCL_NO_PRECOMPILE
282 #include <pcl/filters/impl/statistical_outlier_removal.hpp>
void setMeanK(int nr_k)
Set the number of points (k) to use for mean distance estimation.
void setStddevMulThresh(double std_mul)
Set the standard deviation multiplier threshold.
typename pcl::search::Search< PointT >::Ptr SearcherPtr
int getMeanK()
Get the number of nearest neighbors to use for mean distance estimation.
double getStddevMulThresh()
Get the standard deviation multiplier threshold as set by the user.
void applyFilterIndices(std::vector< int > &indices)
Filtered results are indexed by an indices array.
void setStddevMulThresh(double stddev_mult)
Set the standard deviation multiplier for the distance threshold calculation.
void setMeanK(int nr_k)
Set the number of nearest neighbors to use for mean distance estimation.
double getStddevMulThresh()
Get the standard deviation multiplier for the distance threshold calculation.
FilterIndices represents the base class for filters that are about binary point removal.
StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.
shared_ptr< PointCloud< PointT > > Ptr
StatisticalOutlierRemoval(bool extract_removed_indices=false)
Constructor.
Filter represents the base filter class.
StatisticalOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
double std_mul_
Standard deviations threshold (i.e., points outside of will be marked as outliers).
typename PointCloud::Ptr PointCloudPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< StatisticalOutlierRemoval< PointT > > Ptr
int getMeanK()
Get the number of points to use for mean distance estimation.
KdTreePtr tree_
A pointer to the spatial search object.
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
void applyFilter(std::vector< int > &indices) override
Filtered results are indexed by an indices array.
shared_ptr< pcl::search::Search< PointT > > Ptr
std::string filter_name_
The filter name.
shared_ptr< const Filter< PointT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
int mean_k_
The number of points to use for mean distance estimation.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
typename PointCloud::ConstPtr PointCloudConstPtr