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I suggest to downsample the point clouds before feeding it to obstacles_detection
. See pcl_ros
's VoxelGrid filter for example: http://wiki.ros.org/pcl_ros/Tutorials/VoxelGrid%20filtering, try with a leaf size of 5 cm.
Another way is to use rtabmap_ros/point_cloud_xyz nodelet to convert depth image to point cloud using decimation for fast downsampling.
<node pkg="nodelet" type="nodelet" name="points_xyz" args="standalone rtabmap_ros/point_cloud_xyz">
<remap from="depth/image" to="/zed/zed_node/depth/image"/>
<remap from="depth/camera_info" to="/zed/zed_node/depth/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="decimation" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.05"/>
<param name="approx_sync" type="bool" value="false"/>
</node>