CloudOnPlane

../../_images/cloud_on_plane.png

Publishes true when a pointcloud is on a polygon.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

  • ~input/polygon (jsk_recognition_msgs/PolygonArray)

    Input pointcloud and polygons.

Publishing Topics

  • ~output (jsk_recognition_msgs/BoolStamped)

    True if distance between pointcloud and polygon is smaller than ~distance_thr for ~buf_size frames.

Parameters

  • ~approximate_sync (Bool, default: False)

    Whether to allow approximate synchronization for input topics.

  • ~distance_thr (Float, default: 0.05)

    Distance threshold between pointcloud and polygon.

    This parameter can be changed by dynamic_reconfigure.

  • ~buf_size (Int, default: 2)

    CloudOnPlane only returns true if all the recent ~buf_size results is true.

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros_utils sample_cloud_on_plane.launch