def statistical_filter(pcl_cloud, meank=50, mul_thresh=1.0):
    """
    meank: Set the number of points (k) to use for mean distance estimation.
    mul_thresh: Set the standard deviation multiplier threshold.
            All points who have a distance larger than mul_thresh standard deviation of the mean distance
    """
    sor = pcl_cloud.make_statistical_outlier_filter()
    sor.set_mean_k(meank)
    sor.set_negative(False)
    sor.set_std_dev_mul_thresh(mul_thresh)
    cloud_filtered = sor.filter()
    return cloud_filtered
        # Test
        # cloud_filtered = cloud