voxel_grid_outlier_filter#
Purpose#
The purpose is to remove point cloud noise such as insects and rain.
Inner-workings / Algorithms#
Removing point cloud noise based on the number of points existing within a voxel. The radius_search_2d_outlier_filter is better for accuracy, but this method has the advantage of low calculation cost.
Inputs / Outputs#
This implementation inherits autoware::pointcloud_preprocessor::Filter class, please refer README.
Parameters#
Node Parameters#
This implementation inherits autoware::pointcloud_preprocessor::Filter class, please refer README.
Core Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| voxel_size_x | float | the voxel size along x-axis [m] | 0.3 | ≥0 |
| voxel_size_y | float | the voxel size along y-axis [m] | 0.3 | ≥0 |
| voxel_size_z | float | the voxel size along z-axis [m] | 0.1 | ≥0 |
| voxel_points_threshold | integer | the minimum number of points in each voxel | 2 | ≥1 |