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PointCloudAssembler: added noise filtering options. Added test_ouster_gen2.launch example

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matlabbe
2020-06-22 10:02:57 -04:00
parent 0af6946c67
commit a91e3687ba
3 changed files with 159 additions and 0 deletions
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launch/rtabmap.launch
+4
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@@ -110,6 +110,8 @@
<arg name="scan_cloud_assembling_time" default="1"/>
<arg name="scan_cloud_assembling_fixed_frame" default=""/>
<arg name="scan_cloud_assembling_voxel_size" default="0.05"/>
<arg name="scan_cloud_assembling_noise_radius" default="0.0"/> <!-- 0=disabled -->
<arg name="scan_cloud_assembling_noise_min_neighbors" default="5"/>
<arg name="subscribe_user_data" default="false"/> <!-- user data synchronized subscription -->
<arg name="user_data_topic" default="/user_data"/>
@@ -281,6 +283,8 @@
<param name="assembling_time" type="double" value="$(arg scan_cloud_assembling_time)"/>
<param name="fixed_frame_id" type="string" value="$(arg scan_cloud_assembling_fixed_frame)"/>
<param name="voxel_size" type="double" value="$(arg scan_cloud_assembling_voxel_size)"/>
<param name="noise_radius" type="double" value="$(arg scan_cloud_assembling_noise_radius)"/>
<param name="noise_min_neighbors" type="int" value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
</node>
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