The [point_downsample](
https://github.com/sevenbitbyte/waas/tree/develop/point_downsample) node can support any PointCloud2 and publishes:
* 4 PointCloud2 topics
* [ [foreground, background, downsampled cloud and clusters](https://github.com/sevenbitbyte/waas/blob/develop/point_downsample/src/point_downsample_node.cpp#L163)]
* Visualization markers: [rectangles for blob bounds and spheres for centroids](https://github.com/sevenbitbyte/waas/blob/develop/point_downsample/src/point_downsample_node.cpp#L332-L339)
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