ParallelEdgeFinder

../../_images/parallel_edge_finder.png

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