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.


  • 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.



$ rosrun jsk_pcl_ros extract_indices ~input:=/kinect2/qhd/points ~indices:=/point_indices _negative:=true