BilateralFilter¶
What Is This¶
Apply bilateral filter to specified point cloud.
The filter reduces noise, preserves edges and smooth point cloud.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Original point cloud.
Publishing Topic¶
~output
(sensor_msgs/PointCloud2
)Filtered point cloud.
Parameter¶
~sigma_s
(Float, default:15.0
)
Standard deviation of Gaussian (a.k.a. spatial sigma).
This parameter can be changed by dynamic_reconfigure
.
~sigma_r
(Float, default:0.05
)
Standard deviation of gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (a.k.a. range sigma).
This parameter can be changed by dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_bilateral_filter.launch