MaskImageToPointIndices¶
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.
Parameters¶
~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
.
Sample¶
roslaunch jsk_pcl_ros_utils sample_mask_image_to_point_indices.launch