LineSegmentCollector¶

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.
Parameters¶
~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.
Sample¶
roslaunch jsk_pcl_ros sample_line_segment_collector.launch