VoxelGridDownsampleManager

What Is This

Filter input point cloud by input marker size, and then downsample it.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Original point cloud.

• ~add_grid (visualization_msgs/Marker)

  Additional marker used for xyz pass through filter before downsampling.

  Only frame_id, pose/position and scale field are used for filtering.

  Also, leaf size [m] in voxel grid downsampling will be defined by color/r field.

  Below marker is added internally by default.

  header:
    frame_id: ~base_frame
  pose:
    position:
      x: 2.0
      y: 0.0
      z: -0.5
  scale:
    x: 4.0
    y: 2.0
    z: 3.0
  color:
    r: 0.05
  

Publishing Topic

• ~output (sensor_msgs/PointCloud2)

  Downsampled point cloud for debugging.

• ~output_encoded (jsk_recognition_msgs/SlicedPointCloud)

  Downsampled and sliced point cloud.

  All sliced clusters will be published in order with the slice_index info.

  Number of the clusters is calculated from ~max_points.

  Messages of this topic can be decoded by jsk_pcl_ros/VoxelGridDownsampleDecoder.

Parameter

• ~base_frame (String, default: pelvis)

  Frame ID of initial marker.

• ~max_points (Int, default: 300)

  Number of maximum points in ~output_encoded.

• ~rate (Float, default: 1.0)

  Multiplicative inverse of duration between publishing output_encoded.

  The unit is [Hz].

Sample

roslaunch jsk_pcl_ros sample_voxel_grid_downsample.launch