PlaneReasoner¶
What Is This¶
Pass through horizontal or vertical planes from input planes.
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input point cloud.
Only header of this topic is used for published topics.
~input_inliers
(jsk_recognition_msgs/ClusterPointIndices
)Input cluster point indices of planes.
This topic is not used for filtering, and only filtered plane indices will be published.
~input_polygons
(jsk_recognition_msgs/PolygonArray
)Input plane polygons.
~input_coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Input normal coefficients of planes.
Publishing Topic¶
~output/vertical/inliers
(jsk_recognition_msgs/ClusterPointIndices
)Filtered cluster point indices of vertical planes.
~output/vertical/polygons
(jsk_recognition_msgs/PolygonArray
)Filtered vertical plane polygons.
~output/vertical/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Filtered normal coefficients of vertical planes.
~output/horizontal/inliers
(jsk_recognition_msgs/ClusterPointIndices
)Filtered cluster point indices of horizontal planes.
~output/horizontal/polygons
(jsk_recognition_msgs/PolygonArray
)Filtered horizontal plane polygons.
~output/horizontal/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Filtered normal coefficients of horizontal planes.
Parameter¶
~global_frame_id
(String, default:odom
)Frame ID of filtering coordinates.
This parameter can be changed by
dynamic_reconfigure
.~horizontal_angular_threshold
(Float, default:0.1
)Angular difference you allow about horizontal planes in radians.
This parameter can be changed by
dynamic_reconfigure
.~vertical_angular_threshold
(Float, default:0.1
)Angular difference you allow about vertical planes in radians.
This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros_utils sample_plane_reasoner.launch