statistical_outlier_removal.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_
#define PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_

#include <pcl/filters/filter_indices.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{
  template<typename PointT>
  class StatisticalOutlierRemoval : public FilterIndices<PointT>
  {
    protected:
      typedef typename FilterIndices<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;
      typedef typename pcl::search::Search<PointT>::Ptr SearcherPtr;

    public:

      typedef boost::shared_ptr< StatisticalOutlierRemoval<PointT> > Ptr;
      typedef boost::shared_ptr< const StatisticalOutlierRemoval<PointT> > ConstPtr;


      StatisticalOutlierRemoval (bool extract_removed_indices = false) :
        FilterIndices<PointT>::FilterIndices (extract_removed_indices),
        searcher_ (),
        mean_k_ (1),
        std_mul_ (0.0)
      {
        filter_name_ = "StatisticalOutlierRemoval";
      }

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

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

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

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

    protected:
      using PCLBase<PointT>::input_;
      using PCLBase<PointT>::indices_;
      using Filter<PointT>::filter_name_;
      using Filter<PointT>::getClassName;
      using FilterIndices<PointT>::negative_;
      using FilterIndices<PointT>::keep_organized_;
      using FilterIndices<PointT>::user_filter_value_;
      using FilterIndices<PointT>::extract_removed_indices_;
      using FilterIndices<PointT>::removed_indices_;

      void
      applyFilter (PointCloud &output);

      void
      applyFilter (std::vector<int> &indices)
      {
        applyFilterIndices (indices);
      }

      void
      applyFilterIndices (std::vector<int> &indices);

    private:
      SearcherPtr searcher_;

      int mean_k_;

      double std_mul_;
  };

  template<>
  class PCL_EXPORTS StatisticalOutlierRemoval<pcl::PCLPointCloud2> : public Filter<pcl::PCLPointCloud2>
  {
    using Filter<pcl::PCLPointCloud2>::filter_name_;
    using Filter<pcl::PCLPointCloud2>::getClassName;

    using Filter<pcl::PCLPointCloud2>::removed_indices_;
    using Filter<pcl::PCLPointCloud2>::extract_removed_indices_;

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

    typedef pcl::PCLPointCloud2 PCLPointCloud2;
    typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr;
    typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr;

    public:
      StatisticalOutlierRemoval (bool extract_removed_indices = false) :
        Filter<pcl::PCLPointCloud2>::Filter (extract_removed_indices), 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 (PCLPointCloud2 &output);
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/statistical_outlier_removal.hpp>
#endif

#endif  // PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_