From 54c84fa22ba1d4f09b992eed1e21687d13dcd455 Mon Sep 17 00:00:00 2001
From: Tong Fu <tong.fu@kitware.com>
Date: Mon, 17 Mar 2025 16:04:07 +0100
Subject: [PATCH] [fix] Clean isolated points in outlier removal filter

---
 .../Filters/Processing/vtkAdaptiveOutlierRemoval.cxx   | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx b/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx
index ebf31fc02..3258f2470 100644
--- a/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx
+++ b/LidarCore/Filters/Processing/vtkAdaptiveOutlierRemoval.cxx
@@ -18,6 +18,7 @@
 #include "KDTreeVTKAdaptor.h"
 
 // VTK
+#include <vtkCleanPolyData.h>
 #include <vtkIdTypeArray.h>
 #include <vtkInformation.h>
 #include <vtkMath.h>
@@ -98,9 +99,14 @@ void vtkAdaptiveOutlierRemoval::RemoveOutlier(vtkSmartPointer<vtkPolyData> input
     vtkSmartPointer<vtkRemovePolyData>::New();
   removePolyDataFilter->SetInputData(0, inputPointcloud);
   removePolyDataFilter->SetPointIds(pointIdsToRemove);
-  removePolyDataFilter->Update();
 
-  outputPointcloud->ShallowCopy(removePolyDataFilter->GetOutput());
+  // Clean removed points
+  vtkSmartPointer<vtkCleanPolyData> cleanFilter = vtkSmartPointer<vtkCleanPolyData>::New();
+  cleanFilter->SetInputData(removePolyDataFilter->GetOutput());
+  cleanFilter->PointMergingOff();
+  cleanFilter->Update();
+
+  outputPointcloud->ShallowCopy(cleanFilter->GetOutput());
 }
 
 //-----------------------------------------------------------------------------
-- 
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