From cd3720923a1a0bbf75b5967c120974f76d2b7e56 Mon Sep 17 00:00:00 2001 From: James Ward Date: Tue, 8 May 2018 09:53:32 +1000 Subject: [PATCH] Increase limits on CropBox filter parameters Min and max of CropBox filter was +/- 5m. For a pointcloud from a Velodyne, for example, this is not enough. Increased to +/- 1000m. --- pcl_ros/cfg/CropBox.cfg | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/pcl_ros/cfg/CropBox.cfg b/pcl_ros/cfg/CropBox.cfg index 8031493c..5f72d3fb 100755 --- a/pcl_ros/cfg/CropBox.cfg +++ b/pcl_ros/cfg/CropBox.cfg @@ -11,12 +11,12 @@ from dynamic_reconfigure.parameter_generator_catkin import * gen = ParameterGenerator () # def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""): -gen.add ("min_x", double_t, 0, "X coordinate of the minimum point of the box.", -1, -5, 5) -gen.add ("max_x", double_t, 0, "X coordinate of the maximum point of the box.", 1, -5, 5) -gen.add ("min_y", double_t, 0, "Y coordinate of the minimum point of the box.", -1, -5, 5) -gen.add ("max_y", double_t, 0, "Y coordinate of the maximum point of the box.", 1, -5, 5) -gen.add ("min_z", double_t, 0, "Z coordinate of the minimum point of the box.", -1, -5, 5) -gen.add ("max_z", double_t, 0, "Z coordinate of the maximum point of the box.", 1, -5, 5) +gen.add ("min_x", double_t, 0, "X coordinate of the minimum point of the box.", -1, -1000, 1000) +gen.add ("max_x", double_t, 0, "X coordinate of the maximum point of the box.", 1, -1000, 1000) +gen.add ("min_y", double_t, 0, "Y coordinate of the minimum point of the box.", -1, -1000, 1000) +gen.add ("max_y", double_t, 0, "Y coordinate of the maximum point of the box.", 1, -1000, 1000) +gen.add ("min_z", double_t, 0, "Z coordinate of the minimum point of the box.", -1, -1000, 1000) +gen.add ("max_z", double_t, 0, "Z coordinate of the maximum point of the box.", 1, -1000, 1000) gen.add ("keep_organized", bool_t, 0, "Set whether the filtered points should be kept and set to NaN, or removed from the PointCloud, thus potentially breaking its organized structure.", False) gen.add ("negative", bool_t, 0, "If True the box will be empty Else the remaining points will be the ones in the box", False) gen.add ("input_frame", str_t, 0, "The input TF frame the data should be transformed into before processing, if input.header.frame_id is different.", "")