[ros-users] pcl_ros outlier removal

Arbeiter, Georg Georg.Arbeiter at ipa.fraunhofer.de
Mon Feb 7 17:33:42 UTC 2011


When I try to run the following launch file:

<node pkg="pcl_ros" type="pcd_to_pointcloud" name="pcd_to_pointcloud" 
args="$(find pcl_tutorials)/data/table_scene_mug_stereo_textured.pcd 1" 
<remap from="/cloud_pcd" to="/scene_pointcloud2" />

<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" 
output="screen" />

<!-- Run a StatisticalOutlierRemoval filter -->
<node pkg="nodelet" type="nodelet" name="outlier_removal" args="load 
pcl/StatisticalOutlierRemoval pcl_manager" output="screen">
<remap from="~input" to="/scene_pointcloud2" />
       mean_k: 50
       stddev: 1.0
       negative: False


and than try to visualize the output in RViz I always get
[ WARN] [1297099189.315140446]: 
[pcl::StatisticalOutlierRemoval::applyFilter] Searching for the closest 
50 neighbors failed.

and no point cloud is shown. rostopic echo /scene_pointcloud2 outputs a 
lot of numbers which seem to be correct and no warning is shown.
What am I doing wrong?


Dipl.-Ing. Georg Arbeiter, Fraunhofer IPA
Nobelstrasse 12, 70569 Stuttgart
Telefon 0711-970-1299, Fax 0711-970-1008
mailto:georg.arbeiter at ipa.fraunhofer.de

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