What Is This


Extract FPFH (Fast Point Feature Histograms) from input point cloud, and classify each cluster into 2 categories using Random Forest classifier.

This node internally applies x, y and z filter as preprocessing.

In contrast to jsk_pcl_ros/ColorizeRandomForest, this node does not run euclidean clustering as preprocessing.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud from which specified part will be extracted.

Publishing Topic

  • ~output/debug_points (sensor_msgs/PointCloud2)

    Output point cloud for debugging. Red means classification result == 0, blue means the other.


  • ~rs (Float, default: 0.03)

    Radius in meters used for searching FPFH.

  • ~po (Float, default: 0.03)

    Offset in meters used for pass through filter.

  • ~po2 (Float, default: 0.06)

    Another offset in meters used for pass through filter.

  • ~sum_num (Int, default: 100)

    Number of points used for averaging FPFH histogram.

Calling Service

  • ~classify_server (ml_classifiers/ClassifyData)

    Random Forest server for classification.


roslaunch jsk_pcl_ros sample_colorize_map_random_forest.launch