Add voxel_min_points param for voxel filter #160
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LGTM except making the default for the configuration files (and readme) |
akiroz
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@SteveMacenski This PR is ready for review along with #161 (for |
SteveMacenski
requested changes
Mar 5, 2020
README.md
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| @@ -116,6 +116,7 @@ rgbd_obstacle_layer: | |||
| inf_is_valid: false #default false, for laser scans | |||
| clear_after_reading: true #default false, clear the buffer after the layer gets readings from it | |||
| voxel_filter: true #default off, apply voxel filter to sensor, recommend on | |||
| voxel_min_points: 10 #default 0, minimum points per voxel for voxel filter | |||
src/measurement_buffer.cpp
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| @@ -160,6 +161,7 @@ void MeasurementBuffer::BufferROSCloud(const sensor_msgs::PointCloud2& cloud) | |||
| sor.setLeafSize ((float)_voxel_size, | |||
| (float)_voxel_size, | |||
| (float)_voxel_size); | |||
| sor.setMinimumPointsNumberPerVoxel((unsigned int) _voxel_min_points); | |||
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please use static_cast<unsigned int>(_voxel_min_points);
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Both PRs updated, thanks! |
SteveMacenski
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Mar 5, 2020
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Thanks for your contribution! |
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This feature prevents "ghost points" from noise generated by depth cameras.