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filters_large_map_2d.yaml
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filters_large_map_2d.yaml
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localization_point_type: 'PointXYZINormal'
filters:
reference_pointcloud:
1_voxel_grid:
leaf_size_x: 0.02
leaf_size_y: 0.02
leaf_size_z: 0.02
filter_limit_field_name: 'z'
filter_limit_min: -0.001
filter_limit_max: 1.8
filtered_cloud_publish_topic: ''
downsample_all_data: false
save_leaf_layout: false
ambient_pointcloud:
1_voxel_grid:
leaf_size_x: 0.02
leaf_size_y: 0.02
leaf_size_z: 0.02
filter_limit_field_name: 'z'
filter_limit_min: -1.0
filter_limit_max: 2.0
filtered_cloud_publish_topic: ''
downsample_all_data: false
save_leaf_layout: false
# 2_approximate_voxel_grid:
# leaf_size_x: 0.025
# leaf_size_y: 0.025
# leaf_size_z: 0.025
# filtered_cloud_publish_topic: ''
# downsample_all_data: false
# 3_radius_outlier_removal:
# radius_search: 2.0
# min_neighbors_in_radius: 6
# invert_removal: false
# filtered_cloud_publish_topic: ''
# 4_crop_box:
# box_min_x: -20.0
# box_min_y: -20.0
# box_min_z: -20.0
# box_max_x: 20.0
# box_max_y: 20.0
# box_max_z: 20.0
# box_translation_x: 0.0
# box_translation_y: 0.0
# box_translation_z: 0.0
# box_rotation_roll: 0.0
# box_rotation_pitch: 0.0
# box_rotation_yaw: 0.0
# invert_selection: false
# filtered_cloud_publish_topic: ''
5_random_sample:
number_of_random_samples: 300
invert_sampling: false
filtered_cloud_publish_topic: 'ambient_pointcloud_filtered'
# 6_statistical_outlier_removal:
# number_of_neighbors_for_mean_distance_estimation: 6
# standard_deviation_multiplier: 2.0
# invert_selection: false
# filtered_cloud_publish_topic: ''
# 7_covariance_sampling:
# number_of_samples: 100
# filtered_cloud_publish_topic: ''
# 8_radius_outlier_removal:
# radius_search: 1.0
# min_neighbors_in_radius: 2
# invert_removal: false
# filtered_cloud_publish_topic: ''