What Is This


Extract specified point cloud from input point cloud and clusters.

This feature provides functionality which is similar to the combination of jsk_pcl_ros_utils/ClusterPointIndicesToPointIndices + jsk_pcl_ros/ExtractIndices.

The former (this node) subscribes a topic for specifying index, and the latter gets paramater.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud from which specified part will be extracted.

  • ~indices (jsk_recognition_msgs/ClusterPointIndices)

    Input cluster indices.

  • ~selected_index (jsk_recognition_msgs/Int32Stamped)

    Index of cluster indices used for extraction.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Selected part of input point cloud.


  • ~keep_organized (Bool, default: False)

    Whether to keep organized for output point cloud.


roslaunch jsk_pcl_ros sample_selected_cluster_publisher.launch