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PassThrough filtering

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,

roscore

Open a new shell, and put following command.

roslaunch openni2_launch openni2.launch
roslaunch pcl_ros_tutorials pass_through_filtering.launch

Then, launch rviz.

rviz

Then, you push "Add" button and choose "PointCloud2".

You can change topic.

The following image is passthrough filter.