https://github.com/robotnikautomation/pointcloud_filters
Node to filter a PointCloud2 message.
https://github.com/robotnikautomation/pointcloud_filters
Last synced: 5 months ago
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Node to filter a PointCloud2 message.
- Host: GitHub
- URL: https://github.com/robotnikautomation/pointcloud_filters
- Owner: RobotnikAutomation
- Created: 2022-07-14T10:26:12.000Z (almost 4 years ago)
- Default Branch: ros-devel
- Last Pushed: 2024-09-18T08:45:46.000Z (almost 2 years ago)
- Last Synced: 2025-07-03T22:42:07.165Z (12 months ago)
- Language: C++
- Size: 12.7 KB
- Stars: 1
- Watchers: 5
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
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README
# pointcloud_filters
The pointcloud_filters package, based on RComponent structure. Node to filter a PointCloud2 message.
## 1 lower_resolution_filter
This node filters a PointCloud2 message in a "n" factor to decrease the bandwidth required for the website. It also reduces the frequency of the publication.
### 1.1 Parameters
* ~reduce_points_factor (int, default: 4)
Decrease pointcloud size factor.
* ~desired_freq (double, default: 4.0)
Publication frequency of the filtered PointCloud
* ~pointcloud_in (string, default: front_rgbd_camera/depth/points)
Topic name of the input PointCloud
* ~pointcloud_filtered (string, default: throttle/front_rgbd_camera/depth/points)
Topic name of the filtered PointCloud
### 1.2 Subscribed Topics
* front_rgbd_camera/depth/points (sensor_msgs/PointCloud2)
Topic with the raw PointCloud
### 1.3 Published Topics
* throttle/front_rgbd_camera/depth/points (sensor_msgs/PointCloud2)
Topic with the filtered PointCloud
### 1.4 Bringup
```bash
roslaunch pointcloud_filters lower_resolution_filter.launch
```