InteractiveCuboidLikelihood

What Is This

Compute cuboid likelihood at given point.

Subscribing Topic

• ~input (sensor_msgs/PointCloud2)

  Input point cloud.

Publishing Topic

• ~output (std_msgs/Float32)

  Cuboid likelihood.

Parameter

• ~frame_id (String, default: odom)

  Frame ID of interactive marker, which is generated internally.

• ~sensor_frame (String, default: odom)

  Frame ID of sensor.

• ~initial_pos (List of Float, default: [0, 0, 0])

  Initial x, y, z of interactive marker in meters.

• ~initial_rot (List of Float, default: [0, 0, 0])

  Initial roll, pitch, yaw of interactive marker in radians.

Parameters below can be changed by dynamic_reconfigure.

• ~dx (Float, default: 0.1)

• ~dy (Float, default: 0.1)

• ~dz (Float, default: 0.1)

  Dimension of interactive marker in meters.

• ~use_range_likelihood (Bool, default: False)

  Set to true if you want to update likelihood based on geometry respected to plane.

• ~range_likelihood_local_min_z (Float, default: 0.0)

• ~range_likelihood_local_max_z (Float, default: 0.0)

  Allowed minimum and maximum distance from plane in meters.

• ~outlier_distance (Float, default: 0.1)

  Threshold to regard points as inlier in meters.

• ~min_inliers (Int, default: 10)

  Minimum number of inliers.

• ~use_occulusion_likelihood (Bool, default: False)

  Set to true if you want to take occlusion into acount when compute likelihood.

• ~plane_distance_error_power (Float, default: 2.0)

  Power used for computing error at each candidate point.

• ~use_inside_points_distance_zero (Bool, default: False)

  Set to true if you want to treat plane inside points as distance = 0.

  This parameter is used when ~use_occulusion_likelihood is false.

• ~expected_density (Float, default: 0.01)

  Expected average side in meters of cuboid one point occupies.

• ~use_inliers (Bool, default: False)

  Set to true if you want to take inlier likelihood into account.

• ~inliers_power (Float, default: 2.0)

  Power used for computing inlier likelihood.

  This parameter is used when ~use_inliers is true.

• ~use_support_plane_angular_likelihood (Bool, defalut: False)

  Set to true if you want to take angular likelihood of support plane into account.

• ~support_plane_angular_likelihood_weight_power (Float, default: 1.0)

  Power used for computing angular likelihood of support plane.

  This parameter is used when ~use_support_plane_angular_likelihood is true.

• ~use_surface_area_likelihood (Bool, default: False)

  Set to true if you want to take surface area likelihood into account.

• ~surface_area_error_power (Float, default: 1.0)

  Power used for computing surface area likelihood.

• ~use_polygon_likelihood (Bool, default: False)

  Set to true if you want to take polygon likelihood into account.

Sample

roslaunch jsk_pcl_ros sample_plane_supported_cuboid_estimator.launch