OrganizedPassThrough¶
What Is This?¶

Filter organized pointcloud based on specified index range.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)
Organized point cloud.
Publishing Topic¶
~output
(sensor_msgs/PointCloud2
)
Filtered point cloud.
Parameter¶
~min_index
(Int
, default:0
)Minimum index along
~filter_field
axis that are included.~max_index
(Int
, default:640
)Maximum index along
~filter_field
axis that are included.~keep_organized
(Boolean
, default:true
)Set keep_organized when extract indices.
~remove_nan
(Boolean
, default:false
)Remove points with x, y, or z equal to NaN.
~filter_limit_negative
(Boolean
, default:false
)Set negative when convert indices to point cloud.
~filter_field
(Int
, default:0
)0
: Filter based on x field.1
: Filter based on y field.
These parameters can be changed by dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_organized_pass_through.launch