[ros-users] filtering order for PCL functions

Radu Bogdan Rusu rusu at willowgarage.com
Sat Sep 11 07:40:45 UTC 2010

Nope, no optimal ordering that I could think of. :) It's all based on what you want to do.

For example, VoxelGrid downsamples data + makes it a tiny bit more uniform so you have less to work with. PassThrough 
and VoxelGrid can filter data on a particular dimension which again, leaves you with less data to work with... etc.

It's like LEGO: you connect the filters in one way and you get one result, connect them in another way, you might get 
something different.


On 09/10/2010 11:34 PM, Adam Leeper wrote:
> Hi all-
> Is there a correct or optimal order for doing filtering operations on a
> point cloud? I see in the tutorials they are presented in the order
> Voxel Grid Filter -> Statistical Outlier Removal -> Passthrough Filter,
> but I'm not sure if there is a particular reason for the ordering, or
> use cases where the order would matter more.
> Any insight is appreciated.
> Thanks,
> --Adam
> Adam Leeper
> Stanford University
> aleeper at stanford.edu <mailto:aleeper at stanford.edu>
> 719.358.3804
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| Radu Bogdan Rusu | http://rbrusu.com/

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