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MedianFilter

The MedianFilter calculates the output for N one-dimensional digital filters. Where the input, x, is a (N x 1) vector of inputs and the output, y, is a (N x 1) vector of outputs. The filter is described by number of observations, obs.

• y[n] = median(x[n] + x[n-1] + ... + x[n-obs])

ROS API

Parameters

~name (string, default: Required)

• Name of the filter

~type () (string, default: Required)

• The filter's typename as declared in it's pluginlib registration: MultiChannelMedianFilterDouble or MedianFilterDouble

~params/number_of_observations (int, default: Required)

• The order of the filter

Example Configuration:

FifthOrder:
  name: my_filter
  type: MultiChannelMedianFilterDouble
  params:
    number_of_observations: 5