CloudOnPlane¶
Publishes true when a pointcloud is on a polygon.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)~input/polygon
(jsk_recognition_msgs/PolygonArray
)Input pointcloud and polygons.
Publishing Topics¶
~output
(jsk_recognition_msgs/BoolStamped
)True if distance between pointcloud and polygon is smaller than
~distance_thr
for~buf_size
frames.
Parameters¶
~approximate_sync
(Bool, default:False
)Whether to allow approximate synchronization for input topics.
~distance_thr
(Float, default:0.05
)Distance threshold between pointcloud and polygon.
This parameter can be changed by
dynamic_reconfigure
.~buf_size
(Int, default:2
)CloudOnPlane only returns true if all the recent
~buf_size
results is true.This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros_utils sample_cloud_on_plane.launch