stelzo / cloudfilter

A ROS1 node for filtering point clouds efficiently.

Cloudfilter

A simple ROS1 node that filters a sensor_msgs/PointCloud2 based on a given filter function.

This is a good starting point for implementing ROS1 point cloud nodes (not just filters) with rosrust inside a catkin environment. See the CMakelists.txt and build.sh for details.

Maybe this node will be extended with more complex filters in the future but for now it is just a simple example for working with point clouds in Rust and an example for working with the ros_pointcloud2 crate.

Note: The points get transformed into a different frame before applying the filter function.

Features

• Bounding Box Filter. All bounds are infinite by default. Change them with the parameters in filter.launch.
• Keep meta fields (e.g. RGB, intensity, label). Change the types in src/main.rs and the point conversion in the filter function for this. See predefined types in the ros_pointcloud2 docs for more.
• Use as starting point for your own node. CMakelists.txt and build.sh are helpful for creating other nodes.

Usage

You do not need to have Rust in order to use this node. It will be installed automatically by the build.sh script.

cd ~/catkin_ws/src
git clone https://github.com/stelzo/cloudfilter
catkin build

source ../devel/setup.bash
roslaunch cloudfilter filter.launch # edit this file for your needs

License

MIT

cloudfilter's Issues

[Feature] Voxel filter

[Feature] Stacking filters

Parameter to stack multiple filters behind each other. Example:

<param name="filters" type="string" value="voxel_0,aabb_0"/>
<param name="aabb_0_invert" type="bool" value="true"/>

First applies a Voxel Downsampling filter followed by the AABB in inverted mode.
The _0 implies the first instance which can be used to set specific parameters with a prefix.