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