PlaneSupportedCuboidEstimator

Estimate a cuboid on a plane. Plane information is used as hint. It uses particle filter to estimate pose of cuboid.

jsk_pcl/InteractiveCuboidLikelihood is a helper nodelet to confirm likelihood function behaves as expected.

Subscribing Topics

• ~input (sensor_msgs/PointCloud2)

  Input pointcloud

• ~fast_input (sensor_msgs/PointCloud2)

  Faster input pointcloud

• ~input/polygon (jsk_recognition_msgs/PolygonArray)

• ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  Planes which may support cuboid object

Publishing Topics

• ~output/result (jsk_recognition_msgs/BoundingBoxArray)

  Result of estimation as bounding box.

• ~output/result_pose (geometry_msgs/PoseStamped)

  Estimated cuboid pose.

• ~output/candidate_cloud (sensor_msgs/PointCloud2)

  Candidate pointcloud extracted from polygons.

• ~output/particles (sensor_msgs/PointCloud2)

  Particles as pointcloud (xyzi)

• ~output/histogram/global/x (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/global/y (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/global/z (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/global/roll (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/global/pitch (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/global/yaw (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/dx (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/dy (jsk_recognition_msgs/HistogramWithRange)

• ~output/histogram/dz (jsk_recognition_msgs/HistogramWithRange)

  Histograms of particles for each dimension

Advertising Services

• ~reset (std_srvs/Empty)

  Reset particles filters.

Parameters

• ~sensor_frame (String, default: odom)

  Frame ID of sensor frame. It is used to compute viewpoint and occlusion.

Parameters below can be changed by dynamic_reconfigure.

• ~init_local_position_z_min (Float, default: 0.0)

• ~init_local_position_z_max (Float, default: 1.0)

  Height limits of initial random polygonal prism at local coordinates in meters.

• ~init_local_orientation_roll_mean (Float, default: 0.0)

• ~init_local_orientation_roll_variance (Float, default: 0.005)

• ~init_local_orientation_pitch_mean (Float, default: 0.0)

• ~init_local_orientation_pitch_variance (Float, default: 0.005)

• ~init_local_orientation_yaw_mean (Float, default: 0.0)

• ~init_local_orientation_yaw_variance (Float, default: 0.01)

• ~init_dx_mean (Float, default: 0.1)

• ~init_dx_variance (Float, default: 0.001)

• ~init_dy_mean (Float, default: 0.1)

• ~init_dy_variance (Float, default: 0.001)

• ~init_dz_mean (Float, default: 0.1)

• ~init_dz_variance (Float, default: 0.001)

  Parameters of random gaussian of initial particle cuboid along each axis at local coordinates.

• ~use_init_world_position_z_model (Bool, default: False)

  Whether to enable ~init_world_position_z_min and ~init_world_position_z_max to filter initial particle cuboid.

• ~init_world_position_z_min (Float, default: 0.0)

• ~init_world_position_z_max (Float, default: 1.0)

  Height limits of initial particle cuboid at world coordinates in meters.

• ~disable_init_roll (Bool, default: False)

• ~disable_init_pitch (Bool, default: False)

  Force to set roll/pitch of initial particle cuboid at world coordinates to 0 if True.

• ~use_global_init_yaw (Bool, default: False)

  Enable ~init_global_orientation_yaw_mean and ~init_global_orientation_yaw_variance to decide intial particle states.

• ~init_global_orientation_yaw_mean (Float, default: 0.0)

• ~init_global_orientation_yaw_variance (Float, default: 0.01)

  Parameters of random gaussian of initial particle cuboid along yaw at world coordinates.

• ~particle_num (Int, default: 1000)

  Number of points in particle.

• ~step_x_variance (Float, default: 0.0001)

• ~step_y_variance (Float, default: 0.0001)

• ~step_z_variance (Float, default: 0.0001)

• ~step_roll_variance (Float, default: 0.0001)

• ~step_pitch_variance (Float, default: 0.0001)

• ~step_yaw_variance (Float, default: 0.0001)

• ~step_dx_variance (Float, default: 0.0001)

• ~step_dy_variance (Float, default: 0.0001)

• ~step_dz_variance (Float, default: 0.0001)

  Parameters of random gaussian for sampling and tracking particle cuboid.

• ~min_dx (Float, default: 0.001)

• ~min_dy (Float, default: 0.001)

• ~min_dz (Float, default: 0.001)

  Minimum limits of random value generated from ~step_d?_variance.

• ~use_init_polygon_likelihood (Bool, default: False)

  Whether to use likelihood of input polygon.

• ~fast_cloud_threshold (Float, default: 2.0)

  If distance to object is smaller than ~fast_cloud_threshold, ~fast_input will be used.

Sample

roslaunch jsk_pcl_ros sample_plane_supported_cuboid_estimator.launch