PlaneSupportedCuboidEstimator

Estimate a cuboid on a plane. Plane information is used as hint. It uses particle filter to estimate pose of cuboid.

jsk_pcl/InteractiveCuboidLikelihood is a helper nodelet to confirm likelihood function behaves as expected.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud

  • ~fast_input (sensor_msgs/PointCloud2)

    Fater input pointcloud

  • ~input/polygon (jsk_recognition_msgs/PolygonArray)

  • ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Planes which may support cuboid object

Publishing Topics

  • ~output/result (jsk_recognition_msgs/BoundingBoxArray)

    Result of estimation as bonding box.

  • ~output/particles (sensor_msgs/PointCloud2)

    Particles as pointcloud (xyzi)

  • ~output/histogram/global/x (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/global/y (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/global/z (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/global/roll (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/global/pitch (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/global/yaw (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/dx (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/dy (jsk_recognition_msgs/HistogramWithRange)

  • ~output/histogram/dz (jsk_recognition_msgs/HistogramWithRange)

    Histograms of particles for each dimension

Advertising Services

  • ~reset (std_srvs/Empty)

    Reset particles filters.

Parameters

  • ~init_local_position_z_min

  • ~init_local_position_z_max

  • ~use_init_world_position_z_model

  • ~init_local_orientation_roll_mean

  • ~init_local_orientation_roll_variance

  • ~init_local_orientation_pitch_mean

  • ~init_local_orientation_pitch_variance

  • ~init_local_orientation_yaw_mean

  • ~init_local_orientation_yaw_variance

  • ~init_global_orientation_yaw_mean

  • ~init_global_orientation_yaw_variance

  • ~init_dx_mean

  • ~init_dx_variance

  • ~init_dy_mean

  • ~init_dy_variance

  • ~init_dz_mean

  • ~init_dz_variance

  • ~particle_num

  • ~step_x_variance

  • ~step_y_variance

  • ~step_z_variance

  • ~step_roll_variance

  • ~step_pitch_variance

  • ~step_yaw_variance

  • ~step_dx_variance

  • ~step_dy_variance

  • ~step_dz_variance

  • ~use_range_likelihood (default: False)

    Set to true if you want to update likelihood based on geometry respected to plane.

  • ~range_likelihood_local_min_z

  • ~range_likelihood_local_max_z

    Allowed inimum and maximum distance from plane.

  • ~use_occlusion_likelihood (default: False)

    Take occlusion into acount when compute likelihood.

  • ~min_inliers (default: 10)

    Minimum number of inliers.

  • ~outlier_distance (default: 0.01)

    Threshold to regard points as inlier.

  • ~sensor_frame (default: odom)

    Frame ID of sensor frame. It is used to compute viewpoint and occlusion.

  • ~fast_cloud_threshold (default: 2.0)

    If distance to object is smaller than ~fast_cloud_threshold, ~fast_input will be used.

  • ~use_global_init_yaw (default: False)

    Enable ~init_global_orientation_yaw_mean and ~init_global_orientation_yaw_variance to decide intial particle states.

Sample

roslaunch jsk_pcl_ros sample_plane_supported_cuboid_estimator.launch