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|`max_points_num_per_ring`| size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring`|
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|`publish_outlier_pointcloud`| bool | false | Flag to publish point cloud noise. Due to performance concerns, please set to false during experiments. |
Copy file name to clipboardexpand all lines: sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp
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@@ -51,7 +51,7 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter
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int num_points_threshold_;
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uint16_t max_rings_num_;
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size_t max_points_num_per_ring_;
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boolpublish_noise_points_;
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boolpublish_outlier_pointcloud_;
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/** \brief Parameter service callback result : needed to be hold */
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