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remove single data points

asked 2018-07-18 09:47:37 -0500

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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>

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answered 2018-07-18 13:51:02 -0500

lucasw

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updated 2018-07-18 13:54:12 -0500

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>

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Asked: 2018-07-18 09:47:37 -0500

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Last updated: Jul 18 '18

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