ColorBasedRegionGrowingSegmentation

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jsk_pcl/ColorBasedRegionGrowingSegmentation segments regions based on the color .

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2):

    input pointcloud.

Publishing Topics

  • ~output (jsk_recognition_msgs/ClusterPointIndices):

    Result of region growing segmentation.

Parameters

  • ~distance_threshold (Integer, default: 10)

    Distance threshold to determine whether the point is neighbouring or not.

  • ~point_color_threshold (Integer, default: 6)

    Color threshold is used for testing points color.

  • ~region_color_threshold (Intefer, default: 5)

    This threshold used when the merging process takes place.

  • ~min_cluster_size (Integer, default: 600)

    Minimum number of cluster size.