ParallelEdgeFinder¶

What is this?¶
Find parallel edges from multiple lines.
Subscribing Topics¶
~input_indices
(jsk_recognition_msgs/ClusterPointIndices
)Cluster point indices of multiple lines.
~input_coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)coefficients of lines for each cluster.
Publishing Topics¶
~output_edges_groups
(jsk_recognition_msgs/ParallelEdgeArray
)Array of parallel edge pairs.
~output_clusters
(jsk_recognition_msgs/ClusterPointIndices
)Parallel edge clusters extracted from
~input_indices
.
Parameters¶
~angular_threshold
(Double
, default:0.1
)Allowable angle of inclination of pair of edges in radians.
Sample¶
roslaunch jsk_pcl_ros sample_parallel_edge_finder.launch