Only released in EOL distros:   fuerte

Overview

ROS package for point cloud filtering. This package allows you to perform the following filters on a point cloud:

• X, Y and Z limiting filter. This filter delete the points outside of some defined axis limits [x_min, x_max], [y_min, y_max] and [z_min, z_max].
• Voxel Grid. This filter reduce the number of points using a voxelized grid approach.

This package uses the algorithms of PCL to perform the filtering tasks.

You can find a PCL axis limiting filter tutorial here and a voxel grid downsampling here.

Usage

1. Download the package from source here.

2. Include the package into you ROS workspace:
   • Go to your ROS home directory

       $ roscd

     Put this package into your workspace

       $ rosws set download_path/point_cloud_filtering

     Update

       $ source setup.sh

3. Setup the filter parameters in the file filter_params.yaml
4. Run the package using the launch file included:

   •   $ roslaunch point_cloud_filtering point_cloud_filtering.launch