What is this

ResizePointsPublisher resizes PointCloud generated from depth images.

It keeps organized pointcloud. For example you can create QVGA pointcloud from VGA pointcloud of kinect like sensors.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2):

    Input PointCloud. The input should be organized pointcloud.

  • ~input/mask (sensor_msgs/Image):

    Mask image used for automatically updating ~step_x and ~step_y.

  • ~indices (pcl_msgs/PointIndices):

    Points of only these indices will be extracted and resized.

    To subscribe this topic, ~use_indices must be set to true.

Publishing Topics.

  • ~output (sensor_msgs/PointCloud2):

    Output PointCloud. The output will be organized.


  • ~step_x, ~step_y (Double, default: 2):

    Binning step when resizing pointcloud.

    These parameters can be changed by dynamic_reconfigure.

  • ~use_indices (Boolean, default: false):

    If true, ~indices is subscribed.

  • ~not_use_rgb (Boolean, default: false):

    If you want to resize pointcloud without RGB fields, you need to set this parameter to True.


roslaunch jsk_pcl_ros sample_resize_points_publisher.launch