LineSegmentDetector

../../../../_images/line_segment_detector.png

What is this?

Detect lines in a point cloud.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud.

  • ~input_indices (jsk_recognition_msgs/ClusterPointIndices)

    Input indices of the cluster in a point cloud.

Publishing Topics

  • ~debug/line_marker (visualization_msgs/Marker)

    Marker topic to visualize detected line.

  • ~output/inliers (jsk_recognition_msgs/ClusterPointIndices)

  • ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Result of detection.

Parameters

  • approximate_sync (Bool, default: false)

  • method_type (Int, default: 0)

    The type of sample consensus method to use.

    • 0: SAC_RANSAC
    • 1: SAC_LMEDS
    • 2: SAC_MSAC
    • 3: SAC_RRANSAC
    • 4: SAC_RMSAC
    • 5: SAC_MLESAC
    • 6: SAC_PROSAC
  • ~outlier_threshold (Double, default: 0.005)

    Outlier threshold to detect plane using RANSAC.

  • max_iterations (Int, default: 1000)

    Maximum iteration number to detect larger plane using RANSAC.

  • min_indices (Int, default: 1000)

  • min_length (Double, default: 0.1)

  • line_width (Double, default: 0.01)