RegionGrowingSegmentation¶
What Is This¶
This node segment point cloud by using pcl::RegionGrowing
.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Point cloud to be segmented.
It should have
xyz
andnormal
field and should not haveNaN
points.
Publishing Topic¶
~output
(jsk_recognition_msgs/ClusterPointIndices
)Result of clustering.
Parameter¶
~number_of_neighbors
(Int, default:10
)Number of the neighbors used in KdTree search.
~min_size
(Int, default:20
)Minimum number of points that a cluster needs to contain in order to be considered valid.
~max_size
(Int, default:25000
)Maximum number of points that a cluster needs to contain in order to be considered valid.
~smoothness_threshold
(Float, default:pi / 2
)Threshold value for the angle between normals in radians.
~curvature_threshold
(Float, default:0.1
)Threshold value for curvature testing.
Sample¶
roslaunch jsk_pcl_ros sample_region_growing_segmentation.launch