Euclidean Cluster Extraction - cluster output rate decreases with clouds with over 3000 points

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Euclidean Cluster Extraction - cluster output rate decreases with clouds with over 3000 points

nwanda
Hi,

I'm using EuclideanClusterExtraction on a ROS node. The objective is to output to a specific topic the centroid of each cluster.
The cloud that is being clustered is increasing over time, as more points are added to it. However after the total number of points goes over 3000, I can't keep an output rate of 5Hz.

Is there any optimization I can do to improve this (code or otherwise)?
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Re: Euclidean Cluster Extraction - cluster output rate decreases with clouds with over 3000 points

VictorLamoine
Administrator
Hello,

You can use a voxel grid to reduce the point cloud density and make the processing faster:
http://pointclouds.org/documentation/tutorials/voxel_grid.php

Bye