6. First Phase : Filtering - mclumd/baxter_pcl GitHub Wiki
→ limit the point cloud to the table with the help of using pass-through filter across x,y, z-axis.
This can be done by modifying the values in the function "limit_points_to_table" of the script detect_objects.cpp
Image towards the left represents the raw point cloud image while the image to the right represents the filtered point cloud image.
→ Downgrade the point cloud
Downsample the points of the point cloud, so the computation can be a lot quicker with the less number of the points. This is implemented under the function named "down_grade_samples" of the script detect_objects.cpp
