Method removeOutliersFromInputCloud

grid_map_pcl/src/PointcloudProcessor.cpp:35–43

}

Pointcloud::Ptr PointcloudProcessor::removeOutliersFromInputCloud(Pointcloud::ConstPtr inputCloud) const {
  pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
  sor.setInputCloud(inputCloud);
  sor.setMeanK(params_->get().outlierRemoval_.meanK_);
  sor.setStddevMulThresh(params_->get().outlierRemoval_.stddevThreshold_);
  Pointcloud::Ptr filteredCloud(new Pointcloud());
  sor.filter(*filteredCloud);
  return filteredCloud;
}

std::vector<Pointcloud::Ptr> PointcloudProcessor::extractClusterCloudsFromPointcloud(Pointcloud::ConstPtr inputCloud) const {
  std::vector<pcl::PointIndices> clusterIndices = extractClusterIndicesFromPointcloud(inputCloud);