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.

CropBox

The CropBox nodelet wraps the pcl::CropBox filter.

The following dynamic_reconfigure parameters are used:

Parameters

Dynamically Reconfigurable Parameters

~min_x (double, default: -1.0)

• The minimum allowed x value a point will be considered from. Range: -1000.0 to 1000.0

~max_x (double, default: 1.0)

• The maximum allowed x value a point will be considered from. Range: -1000.0 to 1000.0

~min_y (double, default: -1.0)

• The minimum allowed y value a point will be considered from. Range: -1000.0 to 1000.0

~max_y (double, default: 1.0)

• The maximum allowed y value a point will be considered from. Range: -1000.0 to 1000.0

~min_z (double, default: -1.0)

• The minimum allowed z value a point will be considered from. Range: -1000.0 to 1000.0

~max_z (double, default: 1.0)

• The maximum allowed z value a point will be considered from. Range: -1000.0 to 1000.0

~keep_organized (bool, default: False)

• If true, the pointcloud shape (width, height) will be retained and filtered-out points will be set to nan. If false, pointcloud is reshaped to height 1 and filtered-out points are removed. Please not this is broken in Melodic and the pointcloud is always unorganized. In Noetic, it works correctly.

~negative (bool, default: False)

• Set to true if we want to return the data outside the limiting box. If false, data inside the box are returned.

~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:

• input, in, sensor_msgs/PointCloud2 : input point cloud data to filter.

• indices, in, pcl/PointIndices : input point cloud data indices to use from input.

• output, out, sensor_msgs/PointCloud2 : the resultant filtered point cloud data.