ResizePointsPublisher¶
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.
Parameters¶
~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.
Sample¶
roslaunch jsk_pcl_ros sample_resize_points_publisher.launch