SupervoxelSegmentation¶
Segment pointcloud based on Supervoxel technique. see Voxel Cloud Connectivity Segmentation - Supervoxels for Point Clouds (J. Papon et al. CVPR2013).
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud. It should have rgb field.
Publishing Topic¶
~output/cloud
(sensor_msgs/PointCloud2
)Output pointcloud downsampled by voxel grid.
~output/indices
(jsk_recognition_msgs/ClusterPointIndices
)Clustering result.
Parameters¶
~color_importance
(Double
, default:0.2
)Color importance factor.
~spatial_importance
(Double
, default:0.4
)Spatial importance factor.
~normal_importance
(Double
, default:1.0
)Normal importance factor.
~use_transform
(Boolean
, default:True
)Use single cloud transform
~seed_resolution
(Double
, default:0.1
)Seed resolution of super voxels.
~voxel_resolution
(Double
, default:0.008
)Voxel grid resolution of super voxels.
Sample¶
roslaunch jsk_pcl_ros sample_supervoxel_segmentation.launch