ResizePointsPublisher

../../_images/resize_points_publisher.png

What is this

ResizePointsPublisher resizes PointCloud generated from depth images.

It keeps organized pointcloud. For example you can create QVGA pointcloud from VGA pointcloud of kinect like sensors.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2):

    Input PointCloud. The input should be organized pointcloud.

  • ~input/mask (sensor_msgs/Image):

    Mask image used for automatically updating ~step_x and ~step_y.

  • ~indices (pcl_msgs/PointIndices):

    Points of only these indices will be extracted and resized.

    To subscribe this topic, ~use_indices must be set to true.

Publishing Topics.

  • ~output (sensor_msgs/PointCloud2):

    Output PointCloud. The output will be organized.

Parameters

  • ~step_x, ~step_y (Double, default: 2):

    Binning step when resizing pointcloud.

    These parameters can be changed by dynamic_reconfigure.

  • ~use_indices (Boolean, default: false):

    If true, ~indices is subscribed.

  • ~not_use_rgb (Boolean, default: false):

    If you want to resize pointcloud without RGB fields, you need to set this parameter to True.

Sample

roslaunch jsk_pcl_ros sample_resize_points_publisher.launch