Add voxel_min_points param for voxel filter (ROS2) #161
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
SteveMacenski
requested changes
Mar 5, 2020
README.md
Outdated
| @@ -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
Outdated
| @@ -154,6 +154,7 @@ void MeasurementBuffer::BufferROSCloud( | |||
| sor.setDownsampleAllData(false); | |||
| float v_s = static_cast<float>(_voxel_size); | |||
| sor.setLeafSize(v_s, v_s, v_s); | |||
| sor.setMinimumPointsNumberPerVoxel((unsigned int) _voxel_min_points); | |||
There was a problem hiding this comment.
please use static_cast<unsigned int>(_voxel_min_points);
SteveMacenski
approved these changes
Mar 5, 2020
|
There's an issue with minimum points per voxel in PCL, so just wanted to confirm what I'd expect, which is that the feature added in this PR doesn't really have any effect when applied?? Unless it's been fixed in newer versions of PCL... |
|
I'm not sure - I haven't tested this personally, @akiroz I would have thought did since they proposed it |
|
We actually ended up not using this param in the end but I believe it's been fixed in PCL upstream and planned for the coming 1.12 release. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
See #160