LineSegmentCollector

../../../../_images/line_segment_collector.png

What is this?

Collect line segments.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud.

  • ~input_indices (jsk_recognition_msgs/ClusterPointIndices)

  • ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  • ~trigger (jsk_recognition_msgs/TimeRange)

Publishing Topics

  • ~output/cloud (sensor_msgs/PointCloud2)

    Pointcloud of collectored line segments.

  • ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  • ~output/inliers (jsk_recognition_msgs/ClusterPointIndices)

  • ~output/polygons (jsk_recognition_msgs/PolygonArray)

  • ~debug/connect_segments/inliers (jsk_recognition_msgs/ClusterPointIndices)

Parameters

  • ~segment_connect_normal_threshold (Double, default: 0.9)
  • ~ewma_tau (Double, default: 0.2)
  • ~outlier_threshold (Double, default: 0.01)
  • ~max_iterations (Int, default: 100)
  • ~min_indices (Int, default:1000)