PlaneConcatenator¶
Concatenate near planes and build new set of planes.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud.
~input/indices
(jsk_recognition_msgs/ClusterPointIndices
)~input/polygons
(jsk_recognition_msgs/PolygonArray
)~input/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Input planes.
Publishing Topics¶
~output/indices
(jsk_recognition_msgs/ClusterPointIndices
)~output/polygons
(jsk_recognition_msgs/PolygonArray
)~output/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Concatenated planes. Coefficients parameters are refined by RANSAC.
Parameters¶
~connect_angular_threshold
(Double, default:0.1
)Angular threshold to regard two planes as near.
~connect_distance_threshold
(Double, default:0.1
)Euclidean distance threshold to regard two planes as near.
~connect_perpendicular_distance_threshold
(Double, default:0.1
)Distance threshold to connect two planes in perpendicular direction.
~ransac_refinement_max_iteration
(Integer, default:100
)The maximum number of iteration of RANSAC refinement.
~ransac_refinement_outlier_threshold
(Double, default:0.1
)Outlier threshold of RANSAC refinmenet.
~ransac_refinement_eps_angle
(Double, default:0.1
)Eps angle threshold of RANSAC refinment using normal direction of the plane.
~min_size
(default:100
)Minimum inlier of concatenated polygons.
~min_area
(default:0.1
)~max_area
(default:100.0
)Minimum and maximum area of concatenated polygons.
Sample¶
roslaunch jsk_pcl_ros_utils sample_plane_concatenator.launch