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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Minimum depth of laser scans #803

Open Chick92 opened 2 years ago

Chick92 commented 2 years ago

Hi,

Is it possible to set a minimum depth of laser scans? I.e in a similar way that gen_scan_max_depth operates?

We have a robot with a Velodyne, that produces an excellent point cloud, but some other parts of the payload occasionally feature in the cloud_map pointcloud, which then causes issues with our radiometric overlay.

Is there a way to filter out all input data say "within 1m"? Or will this have to be done with a custom filter?

Thanks!

Ben

matlabbe commented 1 year ago

For point cloud registration, you can set Icp/RangeMin. For the local occupancy grid, you can set Grid/RangeMin.

I think velodyne package has already a parameter to filter points under a specified range: https://github.com/ros-drivers/velodyne/blob/08a792d283640262a817b181fe92b8debbcb9330/velodyne_pointcloud/launch/VLP16_points.launch#L12