Skip to content

passthrough_filter#

Purpose#

The passthrough_filter is a node that removes points on the outside of a range in a given field (e.g. x, y, z, intensity, ring, etc).

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

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

Output#

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

Parameters#

Core Parameters#

Name Type Default Value Description
filter_limit_min int 0 minimum allowed field value
filter_limit_max int 127 maximum allowed field value
filter_field_name string "ring" filtering field name
keep_organized bool false flag to keep indices structure
filter_limit_negative bool false flag to return whether the data is inside limit or not

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#