Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[merge after #2848] option to use ClusterPointIndices for outlier removal #2656

Open
wants to merge 9 commits into
base: master
Choose a base branch
from

Conversation

knorth55
Copy link
Member

@knorth55 knorth55 commented Jan 6, 2022

merge after #2848

Remove outlier with cluster point indices.
With this PR, we can run outlier removal in parallel with ClusterPointIndices message.

  • doc
  • sample

BBox without outlier removal: Edge bbox
BBox with outlier removal: Color bbox
Screenshot from 2022-01-07 03-06-25

@knorth55 knorth55 force-pushed the support-cpi-statistical-removal branch 4 times, most recently from ceb2cd1 to dccb921 Compare January 7, 2022 06:31
@knorth55 knorth55 changed the title [WIP] option to use ClusterPointIndices for outlier removal option to use ClusterPointIndices for outlier removal Jan 7, 2022
@knorth55 knorth55 force-pushed the support-cpi-statistical-removal branch 3 times, most recently from 51eff7f to 0e77b27 Compare November 17, 2022 13:38
@knorth55
Copy link
Member Author

I update this PR and add sample.
I also add sample_realsense_tabletop_object_detector.launch for realsense + tabletop object detector.
I used this PR for baxter.

roslaunch jsk_pcl_ros sample_realsense_tabletop_object_detector.launch

Outlier removal bounding box +Outlier-removed point clouds

Screencast.2022-11-17.22.34.33.mp4

Outlier removal bounding box + non-outlier-removed point clouds

Screencast.2022-11-17.22.35.56.mp4

@knorth55 knorth55 force-pushed the support-cpi-statistical-removal branch from 0e77b27 to 7da94e5 Compare November 17, 2022 13:43
@knorth55
Copy link
Member Author

I also update the doc.

@knorth55 knorth55 force-pushed the support-cpi-statistical-removal branch 2 times, most recently from 5084e04 to a89a193 Compare May 11, 2024 08:12
@knorth55
Copy link
Member Author

I update this PR to support not only XYZRGB but also other formats such as XYZI.

@knorth55 knorth55 force-pushed the support-cpi-statistical-removal branch 3 times, most recently from a748c60 to 55d8408 Compare December 5, 2024 02:21
@knorth55 knorth55 changed the title option to use ClusterPointIndices for outlier removal [merge after #2848] option to use ClusterPointIndices for outlier removal Dec 5, 2024
@knorth55 knorth55 force-pushed the support-cpi-statistical-removal branch from 55d8408 to 1d0954b Compare December 10, 2024 00:26
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Projects
None yet
Development

Successfully merging this pull request may close these issues.

3 participants