GridSampler

../../_images/grid_sampler.png

What is this?

Sample clusters from point cloud with grid size.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud.

Publishing Topics

  • ~output (jsk_recognition_msgs/ClusterPointindices)

    Clusters of point indices which represent each grid sample.

Parameters

  • ~grid_size (Double, default: 0.2)

    Grid size of each cluster in [m].

  • ~min_indices (Int, default: 0)

    Minimum number of point indices in each cluster.

Sample

roslaunch jsk_pcl_ros sample_grid_sampler.launch