ConvexConnectedVoxels¶

../../_images/convex_connected_voxels.png

Merges the voxels initially segmented using SuperVoxel Segmentation into high level object representations by merging the voxels based on convexity measurements.

Subscribing Topics¶

~input/indices (jsk_recognition_msgs/ClusterPointIndices)
~input/cloud (sensor_msgs/PointCloud2)

Input is set of voxel indices and point cloud from the supervoxel_segmentation nodelet

Publishing Topics¶

~output/indices (jsk_recognition_msgs/ClusterPointIndices)

Output is set of merged voxel indices

Sample¶

roslaunch jsk_pcl_ros sample_convex_connected_voxels.launch