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Dear ROS users, I am using the passthrough nodelet (link text) on a point cloud. Setting one field parameter (like in the tutorial) works. What I want to do is to use the nodelet to filter all the fields (x, y, z) at the same time. Since the param "filter_field_name" is only one, how I can achieve that? Thanks!
Although it doesn't seem to be currently documented on the wiki, the pcl_ros package also has a nodelet available for a crop box filter (feel free to add your own documentation!). You can see the description of the crop box filter here, and the dynamic reconfigure config file for the crop box filter should tell you what parameters to set and what they do.
I have made the launch file running, hope this helps. Here I have (camera/depth/color/points) topic and I am using Intel Real Sense D415, you can edit this according to your topic and simply launch the file.
<launch>
<group ns="/pcl_filters"> <node pkg="nodelet" type="nodelet" name="box_filter_pcl_manager" args="manager" output="screen"/>
<!-- Run a passthrough filter to delimit in x direction -->
<node pkg="nodelet" type="nodelet" name="psx" args="load pcl/PassThrough box_filter_pcl_manager" output="screen">
<remap from="~input" to="/camera/depth/color/points" />
<rosparam>
filter_field_name: x
filter_limit_min: -.8
filter_limit_max: 0.5
</rosparam>
</node>
<!-- Run a passthrough filter to delimit in y direction -->
<node pkg="nodelet" type="nodelet" name="psy" args="load pcl/PassThrough box_filter_pcl_manager" output="screen">
<remap from="~input" to="/camera/depth/color/points" />
<rosparam>
filter_field_name: y
filter_limit_min: -1.
filter_limit_max: .3
</rosparam>
</node>
<!-- Run a passthrough filter to delimit in z direction -->
<node pkg="nodelet" type="nodelet" name="psz" args="load pcl/PassThrough box_filter_pcl_manager" output="screen">
<remap from="~input" to="/camera/depth/color/points" />
<rosparam>
filter_field_name: z
filter_limit_min: 0.0
filter_limit_max: 2.0
</rosparam>
</node>
<node pkg="nodelet" type="nodelet" name="cropbox" args="load pcl/CropBox box_filter_pcl_manager" output="screen">
<remap from="~input" to="/camera/depth/color/points" />
<rosparam>
min_x: -0.75
max_x: 0.5
min_y: -0.6
max_y: 0.1
min_z: $(arg 0.1)
max_z: 2.0
</rosparam>
</node>
</group> </launch>
Asked: 2016-02-17 11:56:56 -0500
Seen: 1,237 times
Last updated: Feb 18 '16
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Respected member I am very much new to ROS and I exactly want to filter the xyz all at one so have you got any launch file for this? Kindly share it I will be very much thankful to you.