OrganizedPassThrough

What Is This?

../../_images/organized_pass_through.png

Filter organized pointcloud based on specified index range.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)
Organized point cloud.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)
Filtered point cloud.

Parameter

  • ~min_index (Int, default: 0)

    Minimum index along ~filter_field axis that are included.

  • ~max_index (Int, default: 640)

    Maximum index along ~filter_field axis that are included.

  • ~keep_organized (Boolean, default: true)

    Set keep_organized when extract indices.

  • ~remove_nan (Boolean, default: false)

    Remove points with x, y, or z equal to NaN.

  • ~filter_limit_negative (Boolean, default: false)

    Set negative when convert indices to point cloud.

  • ~filter_field (Int, default: 0)

    • 0: Filter based on x field.
    • 1: Filter based on y field.

These parameters can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros sample_organized_pass_through.launch