ResizePointsPublisher

What is this

ResizePointsPublisher resizes PointCloud generated from depth images. It keeps organized pointcloud. For example you can create QVGA pointcloud from VGA pointcloud of kinect like sensors.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2):

    Input PointCloud. The input should be organized pointcloud.

Publishing Topics.

  • ~output (sensor_msgs/PointCloud2):

    Output PointCloud. The output will be organized.

Parameters

  • ~step_x, ~step_y (Double, default: 2):

    Bining step when resizing pointcloud.

  • ~not_use_rgb (Boolean, default: false):

    If you want to resize pointcloud without RGB fields, you need to set this parameter to True.