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simplify outlier detection

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This commit is contained in:
Robot 2025-07-04 10:23:53 +08:00
parent 1eaa5278f8
commit 21bf8f57be
1 changed files with 9 additions and 20 deletions
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13
src/lidar_filter_node.cpp
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@ -112,17 +112,7 @@ void CLidarFilter::lidarCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
continue; // 当前点本身无效，跳过
}
// 检查前后邻居点是否有效
bool prev_valid = std::isfinite(prev_range) &&
prev_range >= new_scan.range_min &&
prev_range <= new_scan.range_max;
bool next_valid = std::isfinite(next_range) &&
next_range >= new_scan.range_min &&
next_range <= new_scan.range_max;
// 只有当当前点和其前后两个邻居点都有效时，才进行离群判断
if (prev_valid && next_valid) {
// 离群点判定
if (std::abs(current_range - prev_range) > outlier_threshold_ &&
std::abs(current_range - next_range) > outlier_threshold_)
{
@ -135,7 +125,6 @@ void CLidarFilter::lidarCallback(const sensor_msgs::LaserScan::ConstPtr& scan)
}
}
}
}
scan_pub_.publish(new_scan);
}