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[filters] Improve performance of median filter by using nth_element #4360

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Aug 30, 2020
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[filters] Improve performance of median filter by using nth_element #4360

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5 changes: 3 additions & 2 deletions filters/include/pcl/filters/impl/median_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,8 +76,9 @@ pcl::MedianFilter<PointT>::applyFilter (PointCloud &output)
continue;

// The output depth will be the median of all the depths in the window
partial_sort (vals.begin (), vals.begin () + vals.size () / 2 + 1, vals.end ());
float new_depth = vals[vals.size () / 2];
auto middle_it = vals.begin () + vals.size () / 2;
std::nth_element (vals.begin (), middle_it, vals.end ());
float new_depth = *middle_it;
// Do not allow points to move more than the set max_allowed_movement_
if (std::abs (new_depth - (*input_)(x, y).z) < max_allowed_movement_)
output (x, y).z = new_depth;
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