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.


  • ~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.