pt.lsts.neptus.vtk.filters

Class StatisticalOutlierRemoval

java.lang.Object

pt.lsts.neptus.vtk.filters.StatisticalOutlierRemoval

public class StatisticalOutlierRemoval
extends java.lang.Object

Author:

hfq based on R. B. Rusu, Z. C. Marton, N. Blodow, M. Dolha, and M. Beetz Towards 3D Point Cloud Based Object Maps for Household Environments Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge), 2008. The algorithm iterates through the entire point cloud twice. On the first iteration it will compute the average distance that each point has to its k nearest neighbors Next, the mean and standard deviation of all the distances are computed in order to determine a distance threshold. The distance threshold will be = mean + stdMul * stddev. During the next iteration the point will be classified as inlier or outlier if their average distance is below or above this threshold respectively

Constructor Summary

Constructors

Constructor and Description
StatisticalOutlierRemoval()

Method Summary

Modifier and Type	Method and Description
void	applyFilter(vtk.vtkPoints points) FIXME - Check stddev calc with medium (easier)
int	getMeanK()
vtk.vtkPoints	getOutputPoints()
double	getStdMul()
void	setMeanK(int meanK)
void	setOutputPoints(vtk.vtkPoints outputPoints)
void	setStdMul(double stdMul)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

StatisticalOutlierRemoval

public StatisticalOutlierRemoval()

Method Detail

applyFilter

public void applyFilter(vtk.vtkPoints points)

FIXME - Check stddev calc with medium (easier)

Parameters:

points -

getOutputPoints

public vtk.vtkPoints getOutputPoints()

Returns:

the outputPoints

setOutputPoints

public void setOutputPoints(vtk.vtkPoints outputPoints)

Parameters:

outputPoints - the outputPoints to set

getMeanK

public int getMeanK()

Returns:

the meanK

setMeanK

public void setMeanK(int meanK)

Parameters:

meanK - the meanK to set

getStdMul

public double getStdMul()

Returns:

the stdMul

setStdMul

public void setStdMul(double stdMul)

Parameters:

stdMul - the stdMul to set