python-pcl pcl removalradiusremoval doesn't work

Jun 09 '18 23:06 KingDeng005

Current version PCL 1.7.2 cython 0.25.2 on linux RemovalOutlierRemoval doesn't work properly, even when setting the radius to 10 in the example, there are not points left after filtering.

Jun 09 '18 23:06 KingDeng005

@KingDeng005, please post the error/ output what you are getting.

Jun 11 '18 04:06 niranjanreddy891

import pcl import numpy as np import random

import argparse

parser = argparse.ArgumentParser(description='PointCloudLibrary example: Remove outliers') parser.add_argument('--Removal', '-r', choices=('Radius', 'Condition'), default='', help='RadiusOutlier/Condition Removal') args = parser.parse_args()

cloud = pcl.PointCloud() cloud_filtered = pcl.PointCloud()

points = np.zeros((5, 3), dtype=np.float32) RAND_MAX = 1024.0 for i in range(0, 5): points[i][0] = 1024 * random.random () / RAND_MAX points[i][1] = 1024 * random.random () / RAND_MAX points[i][2] = 1024 * random.random () / RAND_MAX

cloud.from_array(points)

if args.Removal == 'Radius': in_search_radius = 10 min_npts = 1 print 'in search radius = {}'.format(in_search_radius) print 'min npts = {}'.format(min_npts) outrem = cloud.make_RadiusOutlierRemoval() outrem.set_radius_search(in_search_radius) outrem.set_MinNeighborsInRadius(min_npts) cloud_filtered = outrem.filter () elif args.Removal == 'Condition': range_cond = cloud.make_ConditionAnd() range_cond.add_Comparison2('z', pcl.CythonCompareOp_Type.GT, 0.0) range_cond.add_Comparison2('z', pcl.CythonCompareOp_Type.LT, 0.8) condrem = cloud.make_ConditionalRemoval(range_cond) condrem.set_KeepOrganized(True) cloud_filtered = condrem.filter () else: print("please specify command line arg paramter 'Radius' or 'Condition'")

print ('Cloud before filtering: ') for i in range(0, cloud.size): print ('x: ' + str(cloud[i][0]) + ', y : ' + str(cloud[i][1]) + ', z : ' + str(cloud[i][2]))

print ('Cloud after filtering: ') for i in range(0, cloud_filtered.size): print ('x: ' + str(cloud_filtered[i][0]) + ', y : ' + str(cloud_filtered[i][1]) + ', z : ' + str(cloud_filtered[i][2]))

Run command as: python radius_removal.py --Removal=Radius The result is: in search radius = 10 min npts = 1 Cloud before filtering: x: 0.587186992168, y : 0.809742569923, z : 0.101652868092 x: 0.430501133204, y : 0.341296344995, z : 0.581077337265 x: 0.495362758636, y : 0.907591044903, z : 0.225011512637 x: 0.576500594616, y : 0.125343248248, z : 0.532614827156 x: 0.782019376755, y : 0.673046171665, z : 0.805666685104 Cloud after filtering:

Given the in search radius=10 and min removal points=1, the filtered result should be the same as the input. Do you have any idea? Thanks!

Jun 12 '18 00:06 KingDeng005

I encountered the same problem, need help!