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.


  • ~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.


roslaunch jsk_pcl_ros sample_supervoxel_segmentation.launch