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voxel_grid_outlier_filter#

Purpose#

The purpose is to remove point cloud noise such as insects and rain.

Inner-workings / Algorithms#

Removing point cloud noise based on the number of points existing within a voxel. The radius_search_2d_outlier_filter is better for accuracy, but this method has the advantage of low calculation cost.

voxel_grid_outlier_filter_picture

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
voxel_size_x double 0.3 the voxel size along x-axis [m]
voxel_size_y double 0.3 the voxel size along y-axis [m]
voxel_size_z double 0.1 the voxel size along z-axis [m]
voxel_points_threshold int 2 the minimum number of points in each voxel

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#

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