Users

Extract Indices

The ExtractIndices nodelet wraps the pcl::ExtractIndices filter (also see tutorial).

The following dynamic_reconfigure parameters are used:

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
~negative (bool, default: False)
  • Extract indices or the negative (all-indices)

PassThrough

The PassThrough nodelet wraps the pcl::PassThrough filter (also see PassThrough tutorial).

The following dynamic_reconfigure parameters are used:

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
~filter_field_name (str, default: z)
  • The field name used for filtering
~filter_limit_min (double, default: 0.0)
  • The minimum allowed field value a point will be considered from Range: -1000.0 to 1000.0
~filter_limit_max (double, default: 1.0)
  • The maximum allowed field value a point will be considered from Range: -1000.0 to 1000.0
~filter_limit_negative (bool, default: False)
  • Set to true if we want to return the data outside [filter_limit_min; filter_limit_max].
~input_frame (str, default: )
  • The input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
~output_frame (str, default: )
  • The output TF frame the data should be transformed into after processing, if input.header.frame_id is different.

ProjectInliers

The ProjectInliers nodelet wraps the pcl::ProjectInliers filter (also see Projection tutorial).

RadiusOutlierRemoval

The RadiusOutlierRemoval nodelet wraps the pcl::RadiusOutlierRemoval filter (also see Outlier removal tutorial).

StatisticalOutlierRemoval

The StatisticalOutlierRemoval nodelet wraps the pcl::StatisticalOutlierRemoval filter (also see Statistical outlier removal tutorial).

The following dynamic_reconfigure parameters are used:

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
~mean_k (int, default: 2)
  • The number of points (k) to use for mean distance estimation Range: 2 to 100
~stddev (double, default: 0.0)
  • The standard deviation multiplier threshold. All points outside the mean +- sigma * std_mul will be considered outliers. Range: 0.0 to 5.0
~negative (bool, default: False)
  • Set whether the inliers should be returned (true) or the outliers (false)

VoxelGrid

The VoxelGrid nodelet wraps the pcl::VoxelGrid filter (also see Downsampling tutorial).

The following dynamic_reconfigure parameters are used:

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
~leaf_size (double, default: 0.01)
  • The size of a leaf (on x,y,z) used for downsampling. Range: 0.0 to 1.0
~filter_field_name (str, default: z)
  • The field name used for filtering
~filter_limit_min (double, default: 0.0)
  • The minimum allowed field value a point will be considered from Range: -1000.0 to 1000.0
~filter_limit_max (double, default: 1.0)
  • The maximum allowed field value a point will be considered from Range: -1000.0 to 1000.0
~filter_limit_negative (bool, default: False)
  • Set to true if we want to return the data outside [filter_limit_min; filter_limit_max].
~input_frame (str, default: )
  • The input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
~output_frame (str, default: )
  • The output TF frame the data should be transformed into after processing, if input.header.frame_id is different.

Developers

All pcl_ros nodelet filters inherit from pcl_ros::Filter, which requires that any class inheriting from it implement the following interface:

  • child_init(), filter(), onInit() and config_callback() are all virtual and can be overridden

  • filter (PointCloud2 &output) is pure abstract and must be implemented

  • if child_init (ros::NodeHandle &nh, bool &has_service) is implemented, and has_service is set to true, the Filter base class dynamic_reconfigure service will not be created

Common ROS parameters

The following ROS parameters are usually read on startup for any pcl_ros nodelet.

  • max_queue_size, int : defines the maximum queue size the ROS subscribers and publishers in the nodelet should use (see ros::NodeHandle::subscribe for more information).

  • use_indices, bool : usually indicates whether the nodelet should listen for incoming data on ~indices. This data represents a subset of point indices (pcl::PointIndices message) that should be used from the input dataset.

  • approximate_sync, bool : indicates whether the input topics that the nodelet listens to, should synchronize with an ApproximateTimeSynchronizer (their header.stamp can differ) or an ExactTimeSynchronizer (their header.stamp must be identical)

Input/Output topics

The following list of ROS topics are used by all pcl_ros filters:

Wiki: pcl_ros/Tutorials/filters (last edited 2019-10-11 17:35:44 by NicolasVaras)