RegionGrowingMultiplePlaneSegmentation¶
jsk_pcl/RegionGrowingMultiplePlaneSegmentation
jsk_pcl/RegionGrowingMultiplePlaneSegmentation
estimates multiple planes from pointcloud.
It extracts planes based on region growing
and evaluation function of connectivity if based on the following equation:
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
):input pointcloud.
Point type should be
pcl::PointXYZRGB
.~input_normal
(sensor_msgs/PointCloud2
):normal pointcloud of
~input
.Point type should be
pcl::Normal
.
Publishing Topics¶
~output/clustering_result
(jsk_recognition_msgs/ClusterPointIndices
):Result of region growing as cluster.
~output/inliers
(jsk_recognition_msgs/ClusterPointIndices
):Set of indices of the polygons.
~output/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
):Array of coefficients of the polygons.
~output/polygons
(jsk_recognition_msgs/PolygonArray
):Plane polygons.
~output/latest_time
(std_msgs/Float32
)latest computation time
~output/average_time
(std_msgs/Float32
)average computation time
Parameters¶
~angular_threshold
(Double, default:0.04
)Angular threshold in [rad] to connect two points in one cluster.
~distance_threshold
(Double, default:0.01
)Distance threshold in [m] to connect two points in one cluster.
~max_curvature
(Double, default:0.1
)Before extracting planes, filtering out the points which have higer curvature than this value.
~min_size
(Integer, default:100
)The minimum number of the points of each plane.
~max_size
(Integer, default:25000
)The maximum number of the points of each plane.
Currently this parameter is disabled and
unlimited
is set instead.~min_area
(Double, default:0.1
)The minimum area of the convex planes in [m^2].
~max_area
(Double, default:100
)The maximum area of the convex planes in [m^2].
~cluster_tolerance
(Double, default:0.1
)The spatial tolerance in [m] for new cluster candidates.
~ransac_refine_outlier_distance_threshold
(Double, default:0.1
)Outlier threshold in [m] for plane estimation using RANSAC.
~ransac_refine_max_iterations
(Integer, default:100
)The maximum number of the iterations for plane estimation using RANSAC.
Note that these parameters can be changed by dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_region_growing_multiple_plane_segmentation.launch