EdgeDepthRefinement¶

../../_images/edge_depth_refinement.png

What is this?¶

Refine edges based on depth connectivity.

In order to take continuity into account, it run RANSAC and remove outliners.

Subscribing Topics¶

~input (sensor_msgs/PointCloud2)
~input_indices (jsk_recognition_msgs/ClusterPointIndices)

Publishing Topics¶

~output (jsk_recognition_msgs/ClusterPointIndices)
~output_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)
~output_outlier_removed (jsk_recognition_msgs/ClusterPointIndices)
~output_outlier_removed_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

Parameters¶

~outlier_distance_threshold (Double, default: 0.01)
~min_inliers (Int, default: 10)
~duplication_angle_threshold (Double, default: 0.1)
~duplication_distance_threshold (Double, default: 0.01)

Sample¶

roslaunch jsk_pcl_ros sample_edge_depth_refinement.launch