Filter ceiling from ROS

[iprob]

Hi,

I wonder if there is any parameter to filter the ceiling. I launch rtabmap from ROS and then I use rtabmap-export to get the map file. I would like to get it without the ceiling.

Thank you in advance,
Inés

[matlabbe]

Hi,

the option is not there in rtabmap-export. Modifying the code after there you may add this to filter between 0 and 2 meters:

cloudToExport = util3d::passThrough(cloudToExport, "z", 0, 2);
cloudIToExport = util3d::passThrough(cloudIToExport, "z", 0, 2);

It could also be done on command line with the exported cloud if in PCD format with:

$ pcl_passthrough_filter inpu.pcd output.pcd -field z -min 0 -max 2

cheers,
Mathieu

[iprob]

Hi Mathieu,

Ok, I have added an argument to the rtabmap-export and made a pull request if you are interested on adding it.

Thank you

[matlabbe]

Thx for the pull request, I will check it by the end of the week.

[iprob]

Ok thanks.