EdgeDepthRefinement

../../../../_images/edge_depth_refinement.png

What is this?

Refine edges based on depth connectivity.

In order to take continuity into account, it run RANSAC and remove outliners.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)
  • ~input_indices (jsk_recognition_msgs/ClusterPointIndices)

Publishing Topics

  • ~output (jsk_recognition_msgs/ClusterPointIndices)
  • ~output_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)
  • ~output_outlier_removed (jsk_recognition_msgs/ClusterPointIndices)
  • ~output_outlier_removed_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

Parameters

  • ~outlier_distance_threshold (Double, default: 0.01)
  • ~min_inliers (Int, default: 10)
  • ~duplication_angle_threshold (Double, default: 0.1)
  • ~duplication_distance_threshold (Double, default: 0.01)

Sample

roslaunch jsk_pcl_ros sample_edge_depth_refinement.launch