ExtractIndices¶
What Is This¶
ExtractIndices extracts point cloud with input point indices.
Upstream package pcl_ros has similar node which extracts point cloud with point indices. (see here)
The pros of this node compared to it are:
supports
keep_organized
option when extract cloud.connected-based system. (does not subscribe without child subscriber)
other params.
max_queue_size
,approximate_sync
support simple command line interface. (you can run with
rosrun
)
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)
Original depth information from which you extract some of them.
~indices
(pcl_msgs/PointIndices
)
Indices for point cloud you extract.
Publishing Topic¶
~output
(sensor_msgs/PointCloud2
)
Extracted point cloud.
Parameter¶
keep_organized
(Boolean, default:false
)
Set keep_organized
when extract indices.
negative
(Boolean, default:false
)
Set negative
when extract indices.
max_queue_size
(Int, default:10
)
Max queue size for subscribers.
approximate_sync
(Boolean, default:false
)
If this parameter is true, ~input
and ~indices
are synchronized with approximate time policy.
Sample¶
roslaunch jsk_pcl_ros sample_attention_clipper.launch