What is this?

Collect line segments.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud.

  • ~input_indices (jsk_recognition_msgs/ClusterPointIndices)

    Cluster point indices of lines.

  • ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Coefficients of lines.

  • ~trigger (jsk_recognition_msgs/TimeRange)

    Trigger for resetting collected line segments buffer.

    Only start field will be used.

Publishing Topics

  • ~output/cloud (sensor_msgs/PointCloud2)

    Pointcloud of collected line segments.

  • ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  • ~output/inliers (jsk_recognition_msgs/ClusterPointIndices)

  • ~output/polygons (jsk_recognition_msgs/PolygonArray)

    These topics are advertised but not published for now.

  • ~debug/connect_segments/inliers (jsk_recognition_msgs/ClusterPointIndices)

    Connected inliers of collected lines.


  • ~rotate_type (String, default: tilt_two_way)

    This parameter is not used for now.

  • ~segment_connect_normal_threshold (Double, default: 0.9)

    Threshold of dot product of normal to connect clusters.

  • ~ewma_tau (Double, default: 0.2)

    Tau parameter of EWMA to connect clusters.

  • ~outlier_threshold (Double, default: 0.01)

    This parameter is not used for now.


roslaunch jsk_pcl_ros sample_line_segment_collector.launch