PrimitiveShapeClassifier¶
primitive_shape_classifier
Classify shape for each cluster point indices on planes.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Input XYZRGB point cloud
~input/normal
(sensor_msgs/PointCloud2
)Input normal point cloud
~input/indices
(jsk_recognition_msgs/ClusterPointIndices
)Input cluster point indices
~input/polygons
(jsk_recognition_msgs/PolygonArray
)Input supporting planes
Publishing Topics¶
~output
(jsk_recognition_msgs/ClassificationResult
)Classification result
debug/boundary_indices
(jsk_recognition_msgs/ClusterPointIndices
)Cluster point indices of boundary points for each clustered objects
debug/projected_cloud
(sensor_msgs/PointCloud2
)Projected boundary points on supporting planes
Parameters¶
~queue_size
(Int
, default:100
)Queue size for message synchronization
~min_points_num
(Int
, default:10
)Minimum number of points for each cluster.
~sac_max_iterations
(Int
, default:500
)Maximum iteration number for SAC segmentation
~sac_distance_threshold
(Double
, default:0.005
)Distance threshold for SAC Segmentation
~sac_radius_limit_min
(Double
, default:0.025
)Minimum radius for circle estimation
~sac_radius_limit_max
(Double
, default:0.13
)Maximum radius for circle estimation
~box_threshold
(Double
, default:0.70
)Threshold to classify objects as boxes
~circle_threshold
(Double
, default:0.30
)Threshold to classify objects as circles