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Pointcloud filter is not working

asked 2019-09-10 01:34:21 -0600

S.Yildiz gravatar image

I have a PMD ToF camera and I want to use the statistical outlier removal filter. I did not write my own node for it, instead I am launching the filter like this:

<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
  <node pkg="nodelet" type="nodelet" name="outlier_removal" 
        args="load pcl/StatisticalOutlierRemoval pcl_manager" output="screen" >

        <remap from="~input" to="/royale_camera_driver/point_cloud" />
        <remap from="~output" to="/filtered_points" />

        <param name="~stddev" value="1.0" />
    <param name="~negative" value="true" />
    <param name="~mean_k" value="100" />


The weird thing is that every 2 minutes I get an output and with it an error:

[pcl::OrganizedNeighbor::radiusSearch] Input dataset is not from a projective device!
    Residual (MSE) 0.000511, using 1152 valid points

This guy here has the same problem but I do not use any filter

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answered 2019-09-10 03:16:03 -0600

S.Yildiz gravatar image

So I managed to solve it by myself. I had to filter the pointcloud with the passthrough filter first

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Asked: 2019-09-10 01:34:21 -0600

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Last updated: Sep 10 '19