VoxelGridDownsampleManager¶
What Is This¶
Filter input point cloud by input marker size, and then downsample it.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Original point cloud.
~add_grid
(visualization_msgs/Marker
)Additional marker used for xyz pass through filter before downsampling.
Only
frame_id
,pose/position
andscale
field are used for filtering.Also, leaf size [m] in voxel grid downsampling will be defined by
color/r
field.Below marker is added internally by default.
header: frame_id: ~base_frame pose: position: x: 2.0 y: 0.0 z: -0.5 scale: x: 4.0 y: 2.0 z: 3.0 color: r: 0.05
Publishing Topic¶
~output
(sensor_msgs/PointCloud2
)Downsampled point cloud for debugging.
~output_encoded
(jsk_recognition_msgs/SlicedPointCloud
)Downsampled and sliced point cloud.
All sliced clusters will be published in order with the
slice_index
info.Number of the clusters is calculated from
~max_points
.Messages of this topic can be decoded by
jsk_pcl_ros/VoxelGridDownsampleDecoder
.
Parameter¶
~base_frame
(String, default:pelvis
)Frame ID of initial marker.
~max_points
(Int, default:300
)Number of maximum points in
~output_encoded
.~rate
(Float, default:1.0
)Multiplicative inverse of duration between publishing
output_encoded
.The unit is [Hz].
Sample¶
roslaunch jsk_pcl_ros sample_voxel_grid_downsample.launch