Only released in EOL distros:
cob_environment_perception: cob_3d_evaluation_features | cob_3d_features | cob_3d_fov_segmentation | cob_3d_mapping_common | cob_3d_mapping_demonstrator | cob_3d_mapping_filters | cob_3d_mapping_gazebo | cob_3d_mapping_geometry_map | cob_3d_mapping_msgs | cob_3d_mapping_pipeline | cob_3d_mapping_point_map | cob_3d_mapping_semantics | cob_3d_mapping_slam | cob_3d_mapping_tools | cob_3d_meshing | cob_3d_registration | cob_3d_segmentation | cob_3d_transform_nodes | cob_3d_visualization | cob_keyframe_detector | cob_table_object_cluster | libgpc | openmesh | polypartition
Package Summary
Documented
Filters for point clouds.
- Maintainer: Georg Arbeiter <goa AT ipa.fhg DOT de>
- Author: Georg Arbeiter
- License: LGPL
- Source: git https://github.com/ipa320/cob_environment_perception.git (branch: hydro_dev)
Package Summary
The cob_3d_mapping_filters package contains nodes for noise filtering of point clouds. Input data is supposed to come from 3-D cameras like Microsoft Kinect.
Contents
Overview
There are several filter algorithms implemented in this package.
amplitude_filter
Thresholding filter on the amplitude channel.Subscribed Topics
/point_cloud2 (sensor_msgs/PointCloud2)- Input topic.
Published Topics
/point_cloud2_filtered (sensor_msgs/PointCloud2)- Filtered point cloud.
Parameters
~amplitude_min_threshold (double, default: 500)- Minimum amplitude threshold. All values below are filtered out.
- Maximum amplitude threshold. All values above are filtered out.
intensity_filter
Thresholding filter on the intensity channel.Subscribed Topics
/point_cloud2 (sensor_msgs/PointCloud2)- Input topic.
Published Topics
/point_cloud2_filtered (sensor_msgs/PointCloud2)- Filtered point cloud.
Parameters
~intensity_min_threshold (double, default: 2000)- Minimum intensity threshold. All values below are filtered out.
- Maximum intensity threshold. All values above are filtered out.
cob_3d_mapping_filters/JumpEdgeFilter
Filter for removing jump edges that occur in TOF point clouds or during fast camera movement. Implements the method described in Stefan Fuchs and Stefan May: Calibration and Registration for Precise Surface Reconstruction, In Proceedings of the DAGM Dyn3D Workshop, September, 2007, Heidelberg, GermanySubscribed Topics
~point_cloud_in (sensor_msgs/PointCloud2)- Input topic.
Published Topics
~point_cloud_out (sensor_msgs/PointCloud2)- Filtered point cloud.
Parameters
~upper_angle_deg (double, default: 170)- Max angle between neighbouring points to be detected as jump edge (degree).
smoothing_filter
Subscribed Topics
/point_cloud2 (sensor_msgs/PointCloud2)- Input topic.
Published Topics
/point_cloud2_filtered (sensor_msgs/PointCloud2)- Filtered point cloud.
Parameters
~edge_threshold (double, default: 0.05) ~smoothing_factor (double, default: 0.25) ~integral_factor (double, default: 0.25)
speckle_filter
Outlier removal filter based on region growing (speckles).Subscribed Topics
/point_cloud2 (sensor_msgs/PointCloud2)- Input topic.
Published Topics
/point_cloud2_filtered (sensor_msgs/PointCloud2)- Filtered point cloud.
Parameters
~speckle_size (double, default: 50)- Minimum allowed size of a speckle (number of points).
- Minimum allowed distance between two speckles.
