VoxelGrid filtering
Description: VoxelGrid filteringTutorial Level: BEGINNER
Contents
The following launch file starts a nodelet manager together with a VoxelGrid 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, and downsample the data with a leaf size of 0.01 meters.
1 <launch>
2 <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
3
4 <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
5 <node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid 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: 1.5
11 filter_limit_negative: False
12 leaf_size: 0.01
13 </rosparam>
14 </node>
15 </launch>