ColorBasedRegionGrowingSegmentation¶
.
jsk_pcl/ColorBasedRegionGrowingSegmentation segments regions based on the color .
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
):input pointcloud.
Publishing Topics¶
~output
(jsk_recognition_msgs/ClusterPointIndices
):Result of region growing segmentation.
Parameters¶
~distance_threshold
(Integer, default:10
)Distance threshold to determine whether the point is neighbouring or not.
~point_color_threshold
(Integer, default:6
)Color threshold is used for testing points color.
~region_color_threshold
(Intefer, default:5
)This threshold used when the merging process takes place.
~min_cluster_size
(Integer, default:600
)Minimum number of cluster size.