PlaneSupportedCuboidEstimator¶
Estimate a cuboid on a plane. Plane information is used as hint. It uses particle filter to estimate pose of cuboid.
jsk_pcl/InteractiveCuboidLikelihood is a helper nodelet to confirm likelihood function behaves as expected.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud
~fast_input
(sensor_msgs/PointCloud2
)Faster input pointcloud
~input/polygon
(jsk_recognition_msgs/PolygonArray
)~input/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Planes which may support cuboid object
Publishing Topics¶
~output/result
(jsk_recognition_msgs/BoundingBoxArray
)Result of estimation as bounding box.
~output/result_pose
(geometry_msgs/PoseStamped
)Estimated cuboid pose.
~output/candidate_cloud
(sensor_msgs/PointCloud2
)Candidate pointcloud extracted from polygons.
~output/particles
(sensor_msgs/PointCloud2
)Particles as pointcloud (xyzi)
~output/histogram/global/x
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/global/y
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/global/z
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/global/roll
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/global/pitch
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/global/yaw
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/dx
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/dy
(jsk_recognition_msgs/HistogramWithRange
)~output/histogram/dz
(jsk_recognition_msgs/HistogramWithRange
)Histograms of particles for each dimension
Advertising Services¶
~reset
(std_srvs/Empty
)Reset particles filters.
Parameters¶
~sensor_frame
(String, default:odom
)Frame ID of sensor frame. It is used to compute viewpoint and occlusion.
Parameters below can be changed by dynamic_reconfigure
.
~init_local_position_z_min
(Float, default:0.0
)~init_local_position_z_max
(Float, default:1.0
)Height limits of initial random polygonal prism at local coordinates in meters.
~init_local_orientation_roll_mean
(Float, default:0.0
)~init_local_orientation_roll_variance
(Float, default:0.005
)~init_local_orientation_pitch_mean
(Float, default:0.0
)~init_local_orientation_pitch_variance
(Float, default:0.005
)~init_local_orientation_yaw_mean
(Float, default:0.0
)~init_local_orientation_yaw_variance
(Float, default:0.01
)~init_dx_mean
(Float, default:0.1
)~init_dx_variance
(Float, default:0.001
)~init_dy_mean
(Float, default:0.1
)~init_dy_variance
(Float, default:0.001
)~init_dz_mean
(Float, default:0.1
)~init_dz_variance
(Float, default:0.001
)Parameters of random gaussian of initial particle cuboid along each axis at local coordinates.
~use_init_world_position_z_model
(Bool, default:False
)Whether to enable
~init_world_position_z_min
and~init_world_position_z_max
to filter initial particle cuboid.~init_world_position_z_min
(Float, default:0.0
)~init_world_position_z_max
(Float, default:1.0
)Height limits of initial particle cuboid at world coordinates in meters.
~disable_init_roll
(Bool, default:False
)~disable_init_pitch
(Bool, default:False
)Force to set roll/pitch of initial particle cuboid at world coordinates to 0 if True.
~use_global_init_yaw
(Bool, default:False
)Enable
~init_global_orientation_yaw_mean
and~init_global_orientation_yaw_variance
to decide intial particle states.~init_global_orientation_yaw_mean
(Float, default:0.0
)~init_global_orientation_yaw_variance
(Float, default:0.01
)Parameters of random gaussian of initial particle cuboid along yaw at world coordinates.
~particle_num
(Int, default:1000
)Number of points in particle.
~step_x_variance
(Float, default:0.0001
)~step_y_variance
(Float, default:0.0001
)~step_z_variance
(Float, default:0.0001
)~step_roll_variance
(Float, default:0.0001
)~step_pitch_variance
(Float, default:0.0001
)~step_yaw_variance
(Float, default:0.0001
)~step_dx_variance
(Float, default:0.0001
)~step_dy_variance
(Float, default:0.0001
)~step_dz_variance
(Float, default:0.0001
)Parameters of random gaussian for sampling and tracking particle cuboid.
~min_dx
(Float, default:0.001
)~min_dy
(Float, default:0.001
)~min_dz
(Float, default:0.001
)Minimum limits of random value generated from
~step_d?_variance
.~use_init_polygon_likelihood
(Bool, default:False
)Whether to use likelihood of input polygon.
~fast_cloud_threshold
(Float, default:2.0
)If distance to object is smaller than
~fast_cloud_threshold
,~fast_input
will be used.
Sample¶
roslaunch jsk_pcl_ros sample_plane_supported_cuboid_estimator.launch