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

(Optional) References/External links

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

(Optional) Future extensions / Unimplemented parts