PlaneRejector

What Is This

../../_images/plane_rejector.png

Remove plane if its normal is different from user-defined reference axis.

Subscribing Topic

  • ~input_polygons (jsk_recognition_msgs/PolygonArray)

    Input plane polygons.

  • ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Input normal coefficients of planes.

  • ~input_inliers (jsk_recognition_msgs/ClusterPointIndices)

    Input cluster point indices.

    This topic is not used for filtering, and only filtered plane indices will be published.

    Subscribed only when ~use_inliers is set to true.

Publishing Topic

  • ~output_polygons (jsk_recognition_msgs/PolygonArray)

    Filtered plane polygons.

  • ~output_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Filtered normal coefficients of planes.

  • ~output_inliers (jsk_recognition_msgs/ClusterPointIndices)

    Filtered cluster point indices.

    Published only when ~use_inliers is set to true.

Parameter

  • ~use_inliers (Bool, default: False)

    Whether to subscribe ~input_inliers.

  • ~allow_flip (Bool, default: False)

    Allow flipping before filtering.

  • ~processing_frame_id (String, required)

    Frame ID of ~reference_axis.

  • ~reference_axis (List of Float, required)

    Axis for filtering plane.

    It must be composed of 3 float numbers.

    Planes whose normal coefficients are different from this parameter will be removed.

  • ~angle (Float, default: 0.0)

    Target angle difference between plane axis and reference axis in radians.

    This parameter can be changed by dynamic_reconfigure.

  • ~angle_thr (Float, default: 10.0 / 180.0 * pi)

    Threshold of allowed angular difference in radians.

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros_utils sample_plane_rejector.launch