ExtractCuboidParticlesTopN¶
Extract top-N particles of pcl::tracking::ParticleCuboid
by comparing weight of them.
Publishing Topics¶
~output
(pcl_msgs/PointIndices
)Top-N particles indices.
~output/box_array
(jsk_recognition_msgs/BoundingBoxArray
)Top-N particles as BoundingBoxArray.
~output/pose_array
(jsk_recognition_msgs/WeightedPoseArray
)Top-N particles as WeightedPoseArray.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Particle cloud of
pcl::tracking::ParticleCuboid
. All the weights are expected to be normalized.
Parameters¶
~top_n_ratio
(Float, default:0.9
)Ratio of top-N.
Sample¶
roslaunch jsk_pcl_ros sample_extract_cuboid_particles_top_n.launch