ParallelEdgeFinder¶

../../_images/parallel_edge_finder.png

What is this?¶

Find parallel edges from multiple lines.

Subscribing Topics¶

~input_indices (jsk_recognition_msgs/ClusterPointIndices)

Cluster point indices of multiple lines.
~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

coefficients of lines for each cluster.

Publishing Topics¶

~output_edges_groups (jsk_recognition_msgs/ParallelEdgeArray)

Array of parallel edge pairs.
~output_clusters (jsk_recognition_msgs/ClusterPointIndices)

Parallel edge clusters extracted from ~input_indices.

Parameters¶

~angular_threshold (Double, default: 0.1)

Allowable angle of inclination of pair of edges in radians.

Sample¶

roslaunch jsk_pcl_ros sample_parallel_edge_finder.launch