A nodelet to convert mask image (sensor_msgs/Image) to point indices (pcl_msgs/PointIndices or jsk_recognition_msgs/ClusterPointIndices) for organized pointcloud.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input mask image.

Publishing Topic

  • ~output (pcl_msgs/PointIndices)

    Output indices converted from the mask image.

  • ~output/all_indices (jsk_recognition_msgs/ClusterPointIndices)

    Output all indices converted from the mask image.


  • ~use_multi_channels (Bool, default: false)

    Handle input as multi-channeled mask image (a.k.a label image) if enabled this option.

  • ~target_channel (Int, default -1)

    This option is valid only when ~use_multi_channels is enabled. Target channel of mask image which is to be published to ~output as indices. If the option is set as -1 (set by default), all channels are counted and published to ~output/all_indices instead of ~output.


roslaunch jsk_pcl_ros_utils sample_mask_image_to_point_indices.launch