Ask Your Question
0

remove single data points

asked 2018-07-18 09:47:37 -0600

Fresh gravatar image

Hi I have a pointcloud and i want to remove all single data point which have no specified number ofneighbours. I found the pcl filer nodelet and the RadiusOutlierRemoval which does this think. But I found only one example how do use it as a part of the launch file. I know how to start but i dont know which parameters i must use to configure the radius and the number of neighbours. Following you see the example which i found. But i dont understand what i must configure to remove all data points without 4 neighbours in a radius of 0.2m?!

 <node pkg="nodelet" type="nodelet" name="psx" args="load pcl/RadiusOutlierRemoval box_filter_pcl_manager" output="screen">
      <remap from="~input" to="/mr/ti_radar/RScan" />
      <rosparam>
          mean_k: 5
          stddev: 1.0
      </rosparam>
    </node>
edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2018-07-18 13:51:02 -0600

lucasw gravatar image

updated 2018-07-18 13:54:12 -0600

Launch your nodelet then launch rqt and and add a Configuration | Dynamic Reconfigure plugin. Then click on psx and you will see the parameters you can change (radius_search and min_neighbors). You can tune them live to find good values, then replace the params in your launch file with these parameters and values (mean_k and stddev look like they are valid for StatisticalOutlierRemoval but not RadiusOutlierRemoval, so get rid of them).

 <node pkg="nodelet" type="nodelet" name="psx" args="load pcl/RadiusOutlierRemoval box_filter_pcl_manager" output="screen">
  <rosparam>
      radius_search: 0.2
      min_neighbors: 4
  </rosparam>
</node>
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2018-07-18 09:47:37 -0600

Seen: 59 times

Last updated: Jul 18 '18