Only released in EOL distros:  

Package Summary



  1. Overview
  2. Usage


ROS package for point cloud filtering. This package allows you to perform the following filters on a point cloud:

  • X, Y and Z limiting filter. This filter delete the points outside of some defined axis limits [x_min, x_max], [y_min, y_max] and [z_min, z_max].
  • Voxel Grid. This filter reduce the number of points using a voxelized grid approach.

This package uses the algorithms of PCL to perform the filtering tasks.

You can find a PCL axis limiting filter tutorial here and a voxel grid downsampling here.


  1. Download the package from source here.

  2. Include the package into you ROS workspace:
    • Go to your ROS home directory
        $ roscd
      Put this package into your workspace
        $ rosws set download_path/point_cloud_filtering
        $ source
  3. Setup the filter parameters in the file filter_params.yaml
  4. Run the package using the launch file included:
    •   $ roslaunch point_cloud_filtering point_cloud_filtering.launch

Wiki: point_cloud_filtering (last edited 2013-03-05 15:40:14 by Pep Lluis Negre)