PrimitiveShapeClassifier

primitive_shape_classifier

Classify shape for each cluster point indices on planes.

Subscribing Topics

• ~input (sensor_msgs/PointCloud2)

  Input XYZRGB point cloud

• ~input/normal (sensor_msgs/PointCloud2)

  Input normal point cloud

• ~input/indices (jsk_recognition_msgs/ClusterPointIndices)

  Input cluster point indices

• ~input/polygons (jsk_recognition_msgs/PolygonArray)

  Input supporting planes

Publishing Topics

• ~output (jsk_recognition_msgs/ClassificationResult)

  Classification result

• debug/boundary_indices (jsk_recognition_msgs/ClusterPointIndices)

  Cluster point indices of boundary points for each clustered objects

• debug/projected_cloud (sensor_msgs/PointCloud2)

  Projected boundary points on supporting planes

Parameters

• ~queue_size (Int, default: 100)

  Queue size for message synchronization

• ~min_points_num (Int, default: 10)

  Minimum number of points for each cluster.

• ~sac_max_iterations (Int, default: 500)

  Maximum iteration number for SAC segmentation

• ~sac_distance_threshold (Double, default: 0.005)

  Distance threshold for SAC Segmentation

• ~sac_radius_limit_min (Double, default: 0.025)

  Minimum radius for circle estimation

• ~sac_radius_limit_max (Double, default: 0.13)

  Maximum radius for circle estimation

• ~box_threshold (Double, default: 0.70)

  Threshold to classify objects as boxes

• ~circle_threshold (Double, default: 0.30)

  Threshold to classify objects as circles