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PassThrough filteringDescription: PassThrough filtering
Tutorial Level: BEGINNER
The following launch file starts a nodelet manager together with a PassThrough PCL filter nodelet. The input PointCloud2 topic is set to /scene_pointcloud2.
The default filtering values are set to filter data on the z-axis between 0.01 and 1.5 meters.
<launch> <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" /> <!-- Run a passthrough filter to clean NaNs --> <node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen"> <remap from="~input" to="/camera/depth/points" /> <rosparam> filter_field_name: z filter_limit_min: 0.01 filter_limit_max: 1.5 filter_limit_negative: False </rosparam> </node> </launch>
In the first terminal,
Open a new shell, and put following command.
roslaunch openni2_launch openni2.launch roslaunch pcl_ros_tutorials pass_through_filtering.launch
Then, launch rviz.
Then, you push "Add" button and choose "PointCloud2".
You can change topic.
The following image is passthrough filter.