pc_filter

ROS node to filter a pointcloud via a pass through filter

Part of the pc_pipeline:

https://github.com/CURG/pc_pipeline_launch

Parameters

• xpassthrough/filter_limit_min: minimum x, anything below in x is filtered out
• xpassthrough/filter_limit_max: max x, anything above in x is filtered out
• ypassthrough/filter_limit_min: minimum y, anything below in y is filtered out
• ypassthrough/filter_limit_max: max y, anything above in y is filtered out
• zpassthrough/filter_limit_min: minimum z, anything below in z is filtered out
• zpassthrough/filter_limit_max: max z, anything above in z is filtered out
• observed_frame_id: This is the frame of reference for the original unfiltered pointcloud
• filtered_frame_id: This is the frame of reference that the filtered pointcloud will be rebroadcast in
• input_pc_topic: This is the ROS topic the unfiltered pointcloud is being published on.
• output_pc_topic: This is the ROS topic in which the filtered pointcloud will be published.
• downsample: The leaf size of the downsampled point cloud in meters. Set to 0 to skip downsample.

Usage

Place the following in a launch file:

<launch>
   <group ns="pc_filter">
      <param name="xpassthrough/filter_limit_min" value="0" />
      <param name="ypassthrough/filter_limit_min" value="0" />
      <param name="zpassthrough/filter_limit_min" value="0" />
      <param name="xpassthrough/filter_limit_max" value="1" />
      <param name="ypassthrough/filter_limit_max" value="1" />
      <param name="zpassthrough/filter_limit_max" value="1" />
      <param name="downsample" value="0.01" />
      
      <param name="observed_frame_id" value="/kinect2_link" />
      <param name="filtered_frame_id" value="/world" />
      <param name="input_pc_topic" value="/kinect2/hd/points" />
      <param name="output_pc_topic" value="/filtered_pc" />
      
      <node name="kinect2_pc_filter" pkg="pc_filter" type="pc_filter" output="screen"/>
   </group>
</launch>