LineSegmentCollector

What is this?

Collect line segments.

Subscribing Topics

• ~input (sensor_msgs/PointCloud2)

  Input pointcloud.

• ~input_indices (jsk_recognition_msgs/ClusterPointIndices)

  Cluster point indices of lines.

• ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  Coefficients of lines.

• ~trigger (jsk_recognition_msgs/TimeRange)

  Trigger for resetting collected line segments buffer.

  Only start field will be used.

Publishing Topics

• ~output/cloud (sensor_msgs/PointCloud2)

  Pointcloud of collected line segments.

• ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

• ~output/inliers (jsk_recognition_msgs/ClusterPointIndices)

• ~output/polygons (jsk_recognition_msgs/PolygonArray)

  These topics are advertised but not published for now.

• ~debug/connect_segments/inliers (jsk_recognition_msgs/ClusterPointIndices)

  Connected inliers of collected lines.

Parameters

• ~rotate_type (String, default: tilt_two_way)

  This parameter is not used for now.

• ~segment_connect_normal_threshold (Double, default: 0.9)

  Threshold of dot product of normal to connect clusters.

• ~ewma_tau (Double, default: 0.2)

  Tau parameter of EWMA to connect clusters.

• ~outlier_threshold (Double, default: 0.01)

  This parameter is not used for now.

Sample

roslaunch jsk_pcl_ros sample_line_segment_collector.launch