[jsk_pcl_ros] ClusterPointIndicesDecomposer does not publish clouds

[wkentaro]

I used the launch file in jsk_pcl_ros/launch.
but actually there is no clouds.

The launch file I used was below (edited some lines):
https://github.com/wkentaro/jsk_recognition/blob/cluster-pi-trial/jsk_pcl_ros/launch/euclidean_segmentation.launch

[garaemon]

try ClusterPointIndicesDecomposer instead of ClusterPointIndicesDecomposerZAxis

[wkentaro]

I also tried it, but seems not publish clouds.
and It seems that the feature is not used recently. (searched under jsk_demos)

[garaemon]

check timestamp of inputs of cluster decomposer

[garaemon]

/pcl_nodelet/voxelgrid/output and /pcl_nodelet/clustering/output

[wkentaro]

I found the reason, ClusterPointIndices does not prepare publications before subscribing cluster_point_indices because number of clusters is unknown.
That is the reason why there is no clouds topics in rostopic list because ConnectedBasedNodelet does not subscribe topics until subscribed.

[wkentaro]

I can see clouds after subscribing one of the topics.

[garaemon]

I see, tricky. Please use debug_output (http://jsk-recognition.readthedocs.org/en/latest/jsk_pcl_ros/nodes/cluster_point_indices_decomposer.html#publishing-topics)

I don't recommend to use ~output%02d topics

[wkentaro]

BTW, are there simple command line tool to apply point indices to point
cloud?

I'd like to use it when viewing on rviz.

2015年10月3日土曜日、Ryohei Uedanotifications@github.comさんは書きました:

I see, tricky. Please use debug_output (
http://jsk-recognition.readthedocs.org/en/latest/jsk_pcl_ros/nodes/cluster_point_indices_decomposer.html#publishing-topics
)

I don't recomment to use ~output%02d topics

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和田 健太郎 / Kentaro Wada
http://wkentaro.com

[garaemon]

pcl_msgs/PointIndices? You can use pcl/ExtractIndices

[wkentaro]

Not for writing code but command line tool.
Like:

rosrun jsk_pcl_ros pointindices_to_pointcloud ~input:=/kinect2/qhd/points
~target:=/pointcloudindices

2015年10月3日土曜日、Ryohei Uedanotifications@github.comさんは書きました:

pcl_msgs/PointIndices? You can use pcl/ExtractIndices

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#1187 (comment)
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和田 健太郎 / Kentaro Wada
http://wkentaro.com