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Only released in EOL distros:  

Package Summary

The cob_3d_mapping_filters package contains nodes for noise filtering of point clouds. Input data is supposed to come from 3-D cameras like Microsoft Kinect.

Overview

There are several filter algorithms implemented in this package.

amplitude_filter

Thresholding filter on the amplitude channel.

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/point_cloud2_filtered (sensor_msgs/PointCloud2)

Parameters

~amplitude_min_threshold (double, default: 500) ~amplitude_max_threshold (double, default: 60000)

intensity_filter

Thresholding filter on the intensity channel.

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/point_cloud2_filtered (sensor_msgs/PointCloud2)

Parameters

~intensity_min_threshold (double, default: 2000) ~intensity_max_threshold (double, default: 60000)

cob_3d_mapping_filters/JumpEdgeFilter

Filter for removing jump edges that occur in TOF point clouds or during fast camera movement. Implements the method described in Stefan Fuchs and Stefan May: Calibration and Registration for Precise Surface Reconstruction, In Proceedings of the DAGM Dyn3D Workshop, September, 2007, Heidelberg, Germany

Subscribed Topics

~point_cloud_in (sensor_msgs/PointCloud2)

Published Topics

~point_cloud_out (sensor_msgs/PointCloud2)

Parameters

~upper_angle_deg (double, default: 170)

smoothing_filter

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/point_cloud2_filtered (sensor_msgs/PointCloud2)

Parameters

~edge_threshold (double, default: 0.05) ~smoothing_factor (double, default: 0.25) ~integral_factor (double, default: 0.25)

speckle_filter

Outlier removal filter based on region growing (speckles).

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/point_cloud2_filtered (sensor_msgs/PointCloud2)

Parameters

~speckle_size (double, default: 50) ~speckle_range (double, default: 0.1)


2019-11-09 12:34