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
| 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) References/External links
(Optional) Future extensions / Unimplemented parts