InteractiveCuboidLikelihood¶
What Is This¶
Compute cuboid likelihood at given point.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input point cloud.
Publishing Topic¶
~output
(std_msgs/Float32
)Cuboid likelihood.
Parameter¶
~frame_id
(String, default:odom
)Frame ID of interactive marker, which is generated internally.
~sensor_frame
(String, default:odom
)Frame ID of sensor.
~initial_pos
(List of Float, default:[0, 0, 0]
)Initial x, y, z of interactive marker in meters.
~initial_rot
(List of Float, default:[0, 0, 0]
)Initial roll, pitch, yaw of interactive marker in radians.
Parameters below can be changed by dynamic_reconfigure
.
~dx
(Float, default:0.1
)~dy
(Float, default:0.1
)~dz
(Float, default:0.1
)Dimension of interactive marker in meters.
~use_range_likelihood
(Bool, default:False
)Set to true if you want to update likelihood based on geometry respected to plane.
~range_likelihood_local_min_z
(Float, default:0.0
)~range_likelihood_local_max_z
(Float, default:0.0
)Allowed minimum and maximum distance from plane in meters.
~outlier_distance
(Float, default:0.1
)Threshold to regard points as inlier in meters.
~min_inliers
(Int, default:10
)Minimum number of inliers.
~use_occulusion_likelihood
(Bool, default:False
)Set to true if you want to take occlusion into acount when compute likelihood.
~plane_distance_error_power
(Float, default:2.0
)Power used for computing error at each candidate point.
~use_inside_points_distance_zero
(Bool, default:False
)Set to true if you want to treat plane inside points as distance = 0.
This parameter is used when
~use_occulusion_likelihood
is false.~expected_density
(Float, default:0.01
)Expected average side in meters of cuboid one point occupies.
~use_inliers
(Bool, default:False
)Set to true if you want to take inlier likelihood into account.
~inliers_power
(Float, default:2.0
)Power used for computing inlier likelihood.
This parameter is used when
~use_inliers
is true.~use_support_plane_angular_likelihood
(Bool, defalut:False
)Set to true if you want to take angular likelihood of support plane into account.
~support_plane_angular_likelihood_weight_power
(Float, default:1.0
)Power used for computing angular likelihood of support plane.
This parameter is used when
~use_support_plane_angular_likelihood
is true.~use_surface_area_likelihood
(Bool, default:False
)Set to true if you want to take surface area likelihood into account.
~surface_area_error_power
(Float, default:1.0
)Power used for computing surface area likelihood.
~use_polygon_likelihood
(Bool, default:False
)Set to true if you want to take polygon likelihood into account.
Sample¶
roslaunch jsk_pcl_ros sample_plane_supported_cuboid_estimator.launch