ring_outlier_filter#
Purpose#
The purpose is to remove point cloud noise such as insects and rain.
Inner-workings / Algorithms#
A method of operating scan in chronological order and removing noise based on the rate of change in the distance between points
Inputs / Outputs#
This implementation inherits pointcloud_preprocessor::Filter class, please refer README.
Parameters#
Node Parameters#
This implementation inherits pointcloud_preprocessor::Filter class, please refer README.
Core Parameters#
| Name | Type | Default Value | Description |
|---|---|---|---|
distance_ratio |
double | 1.03 | |
object_length_threshold |
double | 0.1 | |
num_points_threshold |
int | 4 | |
max_rings_num |
uint_16 | 128 | |
max_points_num_per_ring |
size_t | 4000 | Set this value large enough such that HFoV / resolution < max_points_num_per_ring |
publish_outlier_pointcloud |
bool | false | Flag to publish outlier pointcloud. Due to performance concerns, please set to false during experiments. |
Assumptions / Known limits#
It is a prerequisite to input a scan point cloud in chronological order. In this repository it is defined as blow structure (please refer to PointXYZIRADT).
- X: x
- Y: y
- z: z
- I: intensity
- R: ring
- A :azimuth
- D: distance
- T: time_stamp