42 #include <pcl/filters/filter_indices.h>
43 #include <pcl/search/search.h>
79 template<
typename Po
intT>
90 using Ptr = shared_ptr<StatisticalOutlierRemoval<PointT> >;
91 using ConstPtr = shared_ptr<const StatisticalOutlierRemoval<PointT> >;
130 std_mul_ = stddev_mult;
184 double std_mul_{0.0};
217 filter_name_ =
"StatisticalOutlierRemoval";
262 double std_mul_{0.0};
268 applyFilter (
Indices &indices)
override;
279 generateStatistics (
double& mean,
double& variance,
double& stddev, std::vector<float>& distances);
283 #ifdef PCL_NO_PRECOMPILE
284 #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.
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
void setSearchMethod(const SearcherPtr &searcher)
Provide a pointer to the search object.
shared_ptr< PointCloud< PointT > > Ptr
void setStddevMulThresh(double std_mul)
Set the standard deviation multiplier threshold.
typename pcl::search::Search< PointT >::Ptr SearcherPtr
void applyFilter(Indices &indices) override
Filtered results are indexed by an indices array.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
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 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.
StatisticalOutlierRemoval(bool extract_removed_indices=false)
Constructor.
Filter represents the base filter class.
StatisticalOutlierRemoval(bool extract_removed_indices=false)
Empty constructor.
typename PointCloud::Ptr PointCloudPtr
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
IndicesAllocator<> Indices
Type used for indices in PCL.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
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
shared_ptr< const PointCloud< PointT > > ConstPtr
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.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
typename PointCloud::ConstPtr PointCloudConstPtr