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livox_tag_filter#

Purpose#

The livox_tag_filter is a node that removes noise from pointcloud by using the following tags:

  • Point property based on spatial position
  • Point property based on intensity
  • Return number

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
~/input sensor_msgs::msg::PointCloud2 reference points

Output#

Name Type Description
~/output sensor_msgs::msg::PointCloud2 filtered points

Parameters#

Node Parameters#

Name Type Description
ignore_tags vector ignored tags (See the following table)

Tag Parameters#

Bit Description Options
0~1 Point property based on spatial position 00: Normal
01: High confidence level of the noise
10: Moderate confidence level of the noise
11: Low confidence level of the noise
2~3 Point property based on intensity 00: Normal
01: High confidence level of the noise
10: Moderate confidence level of the noise
11: Reserved
4~5 Return number 00: return 0
01: return 1
10: return 2
11: return 3
6~7 Reserved

You can download more detail description about the livox from external link [1].

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

[1] https://www.livoxtech.com/downloads

(Optional) Future extensions / Unimplemented parts#