statistical_outlier_removal.h

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 * $Id: statistical_outlier_removal.h 35433 2011-01-25 01:51:41Z rusu $
 *
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#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_
#define PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_

#include "pcl/point_types.h"
#include "pcl/filters/filter.h"
#include "pcl/kdtree/kdtree_flann.h"
#include "pcl/common/common.h"

namespace pcl
{

  template <typename PointT>
  class StatisticalOutlierRemoval: public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;

    typedef typename pcl::KdTree<PointT> KdTree;
    typedef typename pcl::KdTree<PointT>::Ptr KdTreePtr;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:
      StatisticalOutlierRemoval () : mean_k_ (2), std_mul_ (0.0), tree_ (), negative_ (false) 
      {
        filter_name_ = "StatisticalOutlierRemoval";
      };

      inline void setMeanK (int nr_k) { mean_k_ = nr_k; }

      inline int getMeanK () { return (mean_k_); }

      inline void setStddevMulThresh (double std_mul) { std_mul_ = std_mul; }

      inline double getStddevMulThresh () { return (std_mul_); }

      inline void setNegative (bool negative) { negative_ = negative; }

      inline bool getNegative () { return (negative_); }

    protected:
      int mean_k_;

      double std_mul_;

      KdTreePtr tree_;

      bool negative_;

      void applyFilter (PointCloud &output);
  };

  template <>
  class StatisticalOutlierRemoval<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    using Filter<sensor_msgs::PointCloud2>::filter_name_;
    using Filter<sensor_msgs::PointCloud2>::getClassName;

    typedef pcl::KdTree<pcl::PointXYZ> KdTree;
    typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;

    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    public:
      StatisticalOutlierRemoval () : mean_k_ (2), std_mul_ (0.0), tree_ (), negative_ (false) 
      {
        filter_name_ = "StatisticalOutlierRemoval";
      };

      inline void setMeanK (int nr_k) { mean_k_ = nr_k; }

      inline int getMeanK () { return (mean_k_); }

      inline void setStddevMulThresh (double std_mul) { std_mul_ = std_mul; }

      inline double getStddevMulThresh () { return (std_mul_); }

      inline void setNegative (bool negative) { negative_ = negative; }

      inline bool getNegative () { return (negative_); }

    protected:
      int mean_k_;

      double std_mul_;

      KdTreePtr tree_;

      bool negative_;

      void applyFilter (PointCloud2 &output);
  };
}

#endif  //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:24 2013