OrganizedEdgeDetector¶
What is this?¶

Detect edges from organized point cloud.
Note
This node requires PCL > 1.7.2.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Input organized point cloud.
Publishing Topics¶
~output_normal
(sensor_msgs/PointCloud2
)Estimated normal of whole point cloud.
Point type is
pcl::Normal
.This topic is published only when
~publish_normal
istrue
.~output_nan_boundary_edge_indices
(pcl_msgs/PointIndices
)~output_occluding_edge_indices
(pcl_msgs/PointIndices
)~output_occluded_edge_indices
(pcl_msgs/PointIndices
)~output_curvature_edge_indices
(pcl_msgs/PointIndices
)~output_rgb_edge_indices
(pcl_msgs/PointIndices
)~output_indices
(pcl_msgs/PointIndices
)Output edge indices.
~output_indices
means all of the edge indices above.~output_nan_boundary_edge
(sensor_msgs/PointCloud2
)~output_occluding_edge
(sensor_msgs/PointCloud2
)~output_occluded_edge
(sensor_msgs/PointCloud2
)~output_curvature_edge
(sensor_msgs/PointCloud2
)~output_rgb_edge
(sensor_msgs/PointCloud2
)~output
(sensor_msgs/PointCloud2
)Output point cloud of edge.
~output
means all of the edge point cloud above.~output_straight_edges_indices
(jsk_recognition_msgs/ClusterPointIndices
)Cluster indices containing straight edges.
This topic is published only when
~use_straightline_detection
istrue
.~edge_image
(sensor_msgs/Image
)~hough_image
(sensor_msgs/Image
)Debug image. Visualize the input and output image of
cv::HoughLinesP
.These topics are published only when
~use_straightline_detection
istrue
and~publish_debug_image
istrue
.
Parameters¶
Parameters for estimating normal¶
~publish_normal
(Boolean, default:false
)Publish normal pointcloud or not.
~max_depth_change_factor
, (Double, default:0.02
)Max depth change factor.
~normal_smoothing_size
, (Double, default:20.0
)Normal smoothing size parameter.
~estimation_method
, (Int, default:1
)Estimation method.
Choose from
AVERAGE_3D_GRADIENT(1)
,COVARIANCE_MATRIX(1)
andAVERAGE_DEPTH_CHANGE(2)
.~depth_dependent_smoothing
(Boolean, default:false
)Use depth dependent smoothing.
~border_policy_ignore
(Boolean, default:true
)Ignore border policy.
Parameters for estimating edge¶
~max_search_neighbors
(Int, default:100
)The maximum search distance for deciding occluding and occluded edges
~depth_discontinuation_threshold
(Double, default:0.04
)Threshold about depth discontinuation between neighboring points in meters.
~use_nan_boundary
(Boolean, default:false
)Add NAN Boundary Edge to estimating edge type
~use_occluding
(Boolean, default:true
)Add Occluding Edge to estimating edge type
~use_occluded
(Boolean, default:true
)Add Occluded Edge to estimating edge type
~use_curvature
(Boolean, default:true
)Add High Curvature Edge to estimating edge type
~use_rgb
(Boolean, default:false
)Add RGB Canny Edge to estimating edge type
Parameters for estimating straight edge¶
~use_straightline_detection
(Boolean, default:true
)Estimate Straight Lines or not.
~rho
(Double, default:1
)Distance resolution of the accumulator in pixels.
~theta
(Double, Default:1
)Angle resolution of the accumulator in degrees.
~straightline_threshold
(Int, default:50
)The minimum number of intersections to ‘detect’ a line.
~min_line_length
(Double, default:50
)The minimum number of points that can form a line.
Lines with less than this number of points are disregarded.
~max_line_gap
(Double, default:10
)The maximum gap between two points to be considered in the same line.
~publish_debug_image
(Boolean, default:true
)Publish Debug Images.
Sample¶
roslaunch jsk_pcl_ros sample_organized_edge_detector.launch