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Resolved bug with ModelOutlierRemoval using indices #1735

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merged 1 commit into from
Oct 24, 2016
Merged

Resolved bug with ModelOutlierRemoval using indices #1735

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4 changes: 3 additions & 1 deletion filters/include/pcl/filters/impl/model_outlier_removal.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -216,7 +216,9 @@ pcl::ModelOutlierRemoval<PointT>::applyFilterIndices (std::vector<int> &indices)
// check distance of pointcloud to model
std::vector<double> distances;
//TODO: get signed distances !
model_->setIndices(indices_); // added to reduce computation and arrange distances with indices
model_->getDistancesToModel (model_coefficients_, distances);

bool thresh_result;

// Filter for non-finite entries and the specified field limits
Expand All @@ -230,7 +232,7 @@ pcl::ModelOutlierRemoval<PointT>::applyFilterIndices (std::vector<int> &indices)
continue;
}

// use threshold function to seperate outliers from inliers:
// use threshold function to separate outliers from inliers:
thresh_result = threshold_function_ (distances[iii]);

// in normal mode: define outliers as false thresh_result
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