[Feature-Request] {Add min/max option for depth data}

[ciniminis1]

Start with the why:

Limiting the data within min. and max. range values decreases the depth data quantity and crops out noisy far-distant points.

Move to the what:

I would love to set the min/max values through parameters in camera.yamlconfig file.

Move to the how:

[Serafadam]

Hi, for that you can use i_threshold_filter_min_range and i_threshold_filter_max_range values

[ciniminis1]

@Serafadam I`ve noticed that min/max range affects depth output, but have no impact on the point cloud or RGB-D output. Is it intended behaviour?

[Serafadam]

Hi, sorry for the delay. The pointcloud generated from rgb/depth data can introduce some additional artifacts, which can be reduced with a ROS pcl_filter.

[Serafadam]

Closing due to inactivity, please feel free to reopen it if you have further questions/comments.