ColorizeRandomForest¶
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 and euclidean clustering as preprocessing.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input point cloud from which specified part will be extracted.
Publishing Topic¶
~output/zero
(sensor_msgs/PointCloud2
)Output point cloud whose classification result == 0
~output/nonzero
(sensor_msgs/PointCloud2
)Output point cloud whose classification result != 0
Parameter¶
~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.
Sample¶
roslaunch jsk_pcl_ros sample_colorize_random_forest.launch