EdgeDepthRefinement¶

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