Limiting depth kinect sees in rgbdslam?

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Hello Shark,

You can use a pass-through filter for that.

Check the nodelets in pcl, I remember using one for that. You can find it in the filters folder of pcl_ros.

You can use it to filer out point that are not between distance A and B on a particular axis.If you wish to filter on more that one axis, simply pipe several nodelets, each parametrized on a different axis.

If you feel more like doing it in a normal node, check this complete tutorial here.

Hope it helps

Raph

I just updated to the most recent version of rgbdslam and I noticed there is already a "depth limiting" parameter in the new GUI. Is this exactly what I'm looking for?

Depends. It does prevent the storage of far points in the combined point cloud file. It doesn't prevent capturing those points and using them for feature matching, though.

There may be a better (read: faster) way to do this, but:

You could write a republishing node that sits between your kinect driver and the rgbdslam node; it listens for pointclouds, scrubs out the points you don't want, and republishes them. Some careful use of <remap> tags in your launchfile would make this pretty easy to plumb together.