ExtractCuboidParticlesTopN

Extract top-N particles of pcl::tracking::ParticleCuboid.

Publishing Topics

  • ~output (pcl_msgs/PointIndices)

    Top-N particles indices.

  • ~output/box_array (jsk_recognition_msgs/BoundingBoxArray)

    Top-N particles as BoundingBoxArray.

  • ~output/pose_array (jsk_recognition_msgs/WeightedPoseArray)

    Top-N particles as WeightedPoseArray.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Particle cloud of pcl::tracking::ParticleCuboid. All the weights are expected to be normalized.

Parameters

  • top_n_ratio (default: 0.9)

    Ratio of top-N.