VoxelGridDownsampleManager¶

What Is This¶

../../_images/voxel_grid_downsample.png

Filter input point cloud by input marker size, and then downsample it.

Subscribing Topic¶

~input (sensor_msgs/PointCloud2)

Original point cloud.
~add_grid (visualization_msgs/Marker)

Additional marker used for xyz pass through filter before downsampling.

Only frame_id, pose/position and scale field are used for filtering.

Also, leaf size [m] in voxel grid downsampling will be defined by color/r field.

Below marker is added internally by default.
```
header:
  frame_id: ~base_frame
pose:
  position:
    x: 2.0
    y: 0.0
    z: -0.5
scale:
  x: 4.0
  y: 2.0
  z: 3.0
color:
  r: 0.05
```

Publishing Topic¶

~output (sensor_msgs/PointCloud2)

Downsampled point cloud for debugging.
~output_encoded (jsk_recognition_msgs/SlicedPointCloud)

Downsampled and sliced point cloud.

All sliced clusters will be published in order with the slice_index info.

Number of the clusters is calculated from ~max_points.

Messages of this topic can be decoded by jsk_pcl_ros/VoxelGridDownsampleDecoder.

Parameter¶

~base_frame (String, default: pelvis)

Frame ID of initial marker.
~max_points (Int, default: 300)

Number of maximum points in ~output_encoded.
~rate (Float, default: 1.0)

Multiplicative inverse of duration between publishing output_encoded.

The unit is [Hz].

Sample¶

roslaunch jsk_pcl_ros sample_voxel_grid_downsample.launch