EdgebasedCubeFinder

What Is This

../../_images/edgebased_cube_finder.png

Detect cubes by estimating parallel and perpendicular planes from parallel edge pairs.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud.

  • ~input_edges (jsk_recognition_msgs/ParallelEdgeArray)

    Input parallel edge pairs.

Publishing Topic

  • ~output (jsk_recognition_msgs/BoundingBoxArray)

    Detected cubes.

  • ~output_pose_array (geometry_msgs/PoseArray)

    Poses of detected cubes.

  • ~debug_filtered_cloud (sensor_msgs/PointCloud2)

    Point cloud on edges for debugging.

  • ~debug_clusters (jsk_recognition_msgs/ClusterPointIndices)

    This topic is advertised, but not published now.

  • ~debug_polygons (jsk_recognition_msgs/PolygonArray)

    This topic is advertised, but not published now.

  • ~debug_marker (visualization_msgs/Marker)

    This topic is advertised, but not published now.

Parameter

  • ~outlier_threshold (Float, default: 0.01)

    Threshold to remove outliers in meters.

    This parameter can be changed by dynamic_reconfigure.

  • ~parallel_edge_distance_min_threshold (Float, default: 0.1)

    Minimum distance between parallel edges in meters.

    This parameter can be changed by dynamic_reconfigure.

  • ~parallel_edge_distance_max_threshold (Float, default: 0.4)

    Maximum distance between parallel edges in meters.

    This parameter can be changed by dynamic_reconfigure.

  • ~min_inliers (Int, default: 1000)

    This parameter is not used for now.

  • ~convex_area_threshold (Float, default: 0.01)

    This parameter is not used for now.

  • ~convex_edge_threshold (Float, default: 0.1)

    This parameter is not used for now.

Sample

roslaunch jsk_pcl_ros sample_edgebased_cube_finder.launch