EdgebasedCubeFinder¶
What Is This¶
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