BilateralFilter

What Is This

../../_images/bilateral_filter.png

Apply bilateral filter to specified point cloud.

The filter reduces noise, preserves edges and smooth point cloud.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Original point cloud.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Filtered point cloud.

Parameter

  • ~sigma_s (Float, default: 15.0)

Standard deviation of Gaussian (a.k.a. spatial sigma).

This parameter can be changed by dynamic_reconfigure.

  • ~sigma_r (Float, default: 0.05)

Standard deviation of gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (a.k.a. range sigma).

This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros sample_bilateral_filter.launch