PassThrough filtering
Description: PassThrough filteringTutorial Level: BEGINNER
Contents
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 meters.
1 <launch>
2 <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
3
4 <!-- Run a passthrough filter to clean NaNs -->
5 <node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen">
6 <remap from="~input" to="/scene_pointcloud2" />
7 <rosparam>
8 filter_field_name: z
9 filter_limit_min: 0.01
10 filter_limit_max: 1.0
11 filter_limit_negative: False
12 </rosparam>
13 </node>
14 </launch>