PolygonPointsSampler

../../_images/polygon_points_sampler.png

Sampling points with fixed grid size on polygons.

Subscribing Topic

  • ~input/polygons (jsk_recognition_msgs/PolygonArray)

  • ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Input polygons where be sampled

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Sampled pointcloud (pcl::PointXYZRGBNormal).

  • ~output_xyz (sensor_msgs/PointCloud2)

    Sampled pointcloud (pcl::PointXYZ).

Parameters

  • ~grid_size (Double, default: 0.01)

    Sampling grid size in [m].

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros_utils sample_polygon_points_sampler.launch