Function cwipc_remove_outliers

• Defined in File api.h

Function Documentation

cwipc_pointcloud *cwipc_remove_outliers(cwipc_pointcloud *pc, int kNeighbors, float stddevMulThresh, bool perTile)

Remove outliers from a cwipc pointcloud.

All points who have a distance larger than stddevMulThresh standard deviation of the mean distance to the query point will be marked as outliers and removed

Parameters:

• pc – The source pointcloud

• kNeighbors – number of neighbors to analyze for each point.

• stddevMulThresh – standard deviation multiplier

• perTile – bool to select applying the filter per tile or to the full pc

Returns:

a cleaned pointcloud