NormalDirectionFilter¶
NormalDirectionFilter
jsk_pcl/NormalDirectionFilter
filters pointcloud based on the direction of the normal.
It can filter pointcloud based on 1) static direction and 2) direction based on imu linear_acceleration.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)input normal pointcloud. Point type is
pcl::Normal
.~input_imu
(sensor_msgs/Imu
)imu message, which is enabled if
~use_imu
parameter is true
Publishing Topics¶
~output
(pcl_msgs/PointIndices
)result of filtering as indices. You can use
pcl/ExtractIndices
to get pointcloud of the indices.
Parameters¶
~use_imu
(Boolean, default:False
):Enable
~input_imu
topic and set target direction based on imu linear acceleration.~eps_angle
(Double, default:0.2
):Allowed angle difference in [rad] to regard the normal as required direction.
This parameter can be changed by
dynamic_recofigure
.~angle_offset
(Double, default:0.0
):Offset parameter to the angle difference.
This parameter can be changed by
dynamic_recofigure
.~direction
(Double Array, required):if
~use_imu
is false, the direction should be specified with this parmaeter.~queue_size
(Integer, default:200
):The length of input queue.
Sample¶
roslaunch jsk_pcl_ros sample_normal_direction_filter.launch