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Export CLI: added noise_radius and noise_k options to filter noise

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matlabbe
2021-05-10 14:45:35 -04:00
parent b4f11e18f3
commit 854a52c6a5
3 changed files with 58 additions and 0 deletions
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8
corelib/include/rtabmap/core/util3d_filtering.h
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@@ -397,6 +397,14 @@ pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
float radiusSearch,
int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
float radiusSearch,
int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
float radiusSearch,
int minNeighborsInRadius);
/**
* @brief Wrapper of the pcl::RadiusOutlierRemoval class.

10
corelib/src/util3d_filtering.cpp
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@@ -993,6 +993,16 @@ pcl::IndicesPtr radiusFiltering(const pcl::PointCloud<pcl::PointXYZRGBNormal>::P
pcl::IndicesPtr indices(new std::vector<int>);
return radiusFiltering(cloud, indices, radiusSearch, minNeighborsInRadius);
}
pcl::IndicesPtr radiusFiltering(const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud, float radiusSearch, int minNeighborsInRadius)
{
pcl::IndicesPtr indices(new std::vector<int>);
return radiusFiltering(cloud, indices, radiusSearch, minNeighborsInRadius);
}
pcl::IndicesPtr radiusFiltering(const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud, float radiusSearch, int minNeighborsInRadius)
{
pcl::IndicesPtr indices(new std::vector<int>);
return radiusFiltering(cloud, indices, radiusSearch, minNeighborsInRadius);
}
template<typename PointT>
pcl::IndicesPtr radiusFilteringImpl(