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How to know which points pcl::PassThrough and pcl::StatisticalOutlierRemoval removes?

asked 2011-02-21 18:39:54 -0500

updated 2011-02-22 07:44:09 -0500

mmwise gravatar image


I would like to know which point is removed/filtered out from an input cloud after applying pcl::PassThrough and pcl::StatisticalOutlierRemoval filters. What I mean by "which point" is the x and y index values of a 3D Point in the sensor plane, or simply the index value of the point.

I have checked pcl::ExtractIndices and pcl_base.h and many other source files, but I couldn't find an easy way to do that.


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You can get x,y,z of points that you want when you call pcl::PassThrough and pcl::StatisticalOutlierRemoval filters. What I don't know is how to know the indices of original point cloud. Anyone know? Thank you~

sam gravatar image sam  ( 2014-05-09 22:22:16 -0500 )edit

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answered 2011-02-23 08:53:56 -0500

Hi Corey,

I think you misunderstood the actual problem here.

It is not possible to know which points are removed/filtered out in the current version of PCL for the filters that I have mentioned above. This feature/addon is going to be included in the upcoming versions of PCL, probably 2.0.

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answered 2011-02-22 07:52:58 -0500

Corey Montella gravatar image

updated 2011-02-22 08:43:17 -0500

The statistical outlier removal object has a setNegative() method which will extract outliers instead of inliers. Simply pass this method 'true'.

For the passthrough filter, you can use setFilterLimitsNegative(). Pass this method 'true' as well to get the outliers.

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Asked: 2011-02-21 18:39:54 -0500

Seen: 2,435 times

Last updated: Feb 23 '11