Adding statistical filter

gentlebots · Feb 20, 2024 · f1b705f · f1b705f
1 parent a0c3476
commit f1b705f
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diff --git a/include/small_objects_detector/Detector.hpp b/include/small_objects_detector/Detector.hpp
@@ -27,6 +27,7 @@
 #include "pcl/filters/extract_indices.h"
 #include "pcl/segmentation/sac_segmentation.h"
 #include "pcl/sample_consensus/ransac.h"
+#include <pcl/filters/statistical_outlier_removal.h>
 
 namespace small_objects_detector
 {

diff --git a/src/small_objects_detector/Detector.cpp b/src/small_objects_detector/Detector.cpp
@@ -116,6 +116,20 @@ const
     cloud_filtered_ptr_inliers.swap(cloud_f);
   } while (cloud_p->size() > plane_size_);
 
+  //----------------------------------------------------
+  // StatisticalOutlierRemoval Filter
+  //----------------------------------------------------
+  // Create the filtering object
+  pcl::StatisticalOutlierRemoval<pcl::PointXYZRGB> f;
+  // pass the input point cloud to the processing module
+  f.setInputCloud (cloud_f);
+  // set some parameters 
+  f.setMeanK (50); 
+  f.setStddevMulThresh (3.0);
+  // get the output point cloud
+  f.filter (*cloud_f);
+  // std::cerr << "PointCloud inliners: " << cloud_filtered_ptr_inliers->width * cloud_filtered_ptr_inliers->height << " data points." << std::endl;
+
   // Create output pointcloud
   pcl::PointCloud<pcl::PointXYZRGB> out_pointcloud = *cloud_f;