This is a port of PCL's StatisticalOutlierRemoval to cv::Mat depth image or cv::Mat3f organized point cloud. Instead of original kNN search in 3D space, use proximity in 2D image space for efficient computation.
Here is a result on a depth frame of rgbd_dataset_freiburg3_long_office_household sequence from TUM RGB-D SLAM Dataset and Benchmark
| original | distance map | outlier mask | outlier removed |
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