ExtractCuboidParticlesTopN¶

../../_images/extract_cuboid_particles_top_n.png

Extract top-N particles of pcl::tracking::ParticleCuboid by comparing weight of them.

Publishing Topics¶

~output (pcl_msgs/PointIndices)

Top-N particles indices.
~output/box_array (jsk_recognition_msgs/BoundingBoxArray)

Top-N particles as BoundingBoxArray.
~output/pose_array (jsk_recognition_msgs/WeightedPoseArray)

Top-N particles as WeightedPoseArray.

Subscribing Topics¶

~input (sensor_msgs/PointCloud2)

Particle cloud of pcl::tracking::ParticleCuboid. All the weights are expected to be normalized.

Parameters¶

~top_n_ratio (Float, default: 0.9)

Ratio of top-N.

Sample¶

roslaunch jsk_pcl_ros sample_extract_cuboid_particles_top_n.launch