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bigsnarfdude/gist:9511355f811fe1e58b2a1125c556404e

Last active May 15, 2017 23:13
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[LIDAR] slow point cloud filtering
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gistfile1.txt
# real 0m5.248s
# user 0m5.084s
# sys 0m0.828s
import pcl
p = pcl.load("/media/datadrive/didi/notebooks/data/tutorials/table_scene_lms400.pcd")
fil = p.make_statistical_outlier_filter()
fil.set_mean_k(50)
fil.set_std_dev_mul_thresh(1.0)
pcl.save(fil.filter(), "table_scene_lms400_inliers.pcd")
fil.set_negative(True)
pcl.save(fil.filter(), "table_scene_lms400_outliers.pcd")
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