statistical_outlier_removal.h

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 * $Id: statistical_outlier_removal.h 6144 2012-07-04 22:06:28Z rusu $
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#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:
      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<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    using Filter<sensor_msgs::PointCloud2>::filter_name_;
    using Filter<sensor_msgs::PointCloud2>::getClassName;

    using Filter<sensor_msgs::PointCloud2>::removed_indices_;
    using Filter<sensor_msgs::PointCloud2>::extract_removed_indices_;

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

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

    public:
      StatisticalOutlierRemoval (bool extract_removed_indices = false) :
        Filter<sensor_msgs::PointCloud2>::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 (PointCloud2 &output);
  };
}

#endif  // PCL_FILTERS_STATISTICAL_OUTLIER_REMOVAL_H_