Merges the voxels initially segmented using SuperVoxel Segmentation into high level object representations by merging the voxels based on convexity measurements.

Subscribing Topics

  • ~input/indices (jsk_recognition_msgs/ClusterPointIndices)

  • ~input/cloud (sensor_msgs/PointCloud2)

    Input is set of voxel indices and point cloud from the supervoxel_segmentation nodelet

Publishing Topics

  • ~output/indices (jsk_recognition_msgs/ClusterPointIndices)

    Output is set of merged voxel indices


roslaunch jsk_pcl_ros sample_convex_connected_voxels.launch