PointCloud Crop

The pointcloud_crop package is designed to crop a <sensor_msgs::PointCloud2> within a specified xyz range.

Dependencies

Point Cloud Library (PCL)

Installation & Building

To install and build the package, follow these steps:

$ cd ~/{your workspace}/src
$ git clone https://github.com/mjlee111/pointcloud_crop.git
$ cd ..
$ catkin_make

Usage

To use the package, follow these instructions:

Running the Package

Launch the package using the following command:

$ roslaunch pointcloud_crop crop.launch

Parameters

The package supports the following parameters:

• sub_topic: The topic name to subscribe to.

  • Default: /pointcloud

• pub_topic: The topic name to publish the cropped point cloud to.

  • Default: /pointcloud_crop

• x_min: The minimum x-range for cropping.

  • Default: -1.0 [m]

• x_max: The maximum x-range for cropping.

  • Default: 1.0 [m]

• y_min: The minimum y-range for cropping.

  • Default: -1.0 [m]

• y_max: The maximum y-range for cropping.

  • Default: 1.0 [m]

• z_min: The minimum z-range for cropping.

  • Default: -1.0 [m]

• z_max: The maximum z-range for cropping.

  • Default: 1.0 [m]

• marker: Set marker for range visualization.

  • Default: false

Example launch file (crop.launch)

Below is an example of a crop.launch file, which you can use to run the package with custom parameters:

<launch>
  <node pkg="pointcloud_crop" type="pointcloud_crop_node" name="pointcloud_crop_node" output="screen">
    <param name="sub_topic" type="string" value="/point_cloud" />
    <param name="pub_topic" type="string" value="/point_cloud_crop" />

    <param name="x_min" value="-1" />
    <param name="x_max" value="1" />

    <param name="y_min" value="-1" />
    <param name="y_max" value="1" />

    <param name="z_min" value="-1"/>
    <param name="z_max" value="1"/>

    <param name="marker" type="bool" value="false" />
  </node>
</launch>

This package facilitates the cropping of point cloud data within a specified range, making it easier to focus on areas of interest in your point cloud datasets. Adjust the parameters as needed to suit your specific application requirements.