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.
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 |