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PCODAR: various fixes / tuning #151

Merged
merged 5 commits into from
Nov 2, 2018
Merged

PCODAR: various fixes / tuning #151

merged 5 commits into from
Nov 2, 2018

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kev-the-dev
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closes #147

A few fixes / updates for PCODAR:

  • replace the statistical outlier filter with a radius-neighbor filter, which eliminates noisey sensor data more effectively in experimental testing with bag data
  • Catch the case where the filter removes all points and provide a more useful ROS warning until letting PCL spam the console
  • Fix a bug in the object associator relating to pcl::Search returning squared distance, not distance
  • Tune the default parameter values to adjust to the above changes

@ghost ghost assigned kev-the-dev Oct 31, 2018
@ghost ghost added the review label Oct 31, 2018
@Grymestone Grymestone merged commit 38ae758 into master Nov 2, 2018
@ghost ghost removed the review label Nov 2, 2018
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@Grymestone Grymestone Grymestone approved these changes

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PCODAR: improve filtering
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