PlaneConcatenator

../../_images/plane_concatenator.png

Concatenate near planes and build new set of planes.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud.

  • ~input/indices (jsk_recognition_msgs/ClusterPointIndices)

  • ~input/polygons (jsk_recognition_msgs/PolygonArray)

  • ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Input planes.

Publishing Topics

  • ~output/indices (jsk_recognition_msgs/ClusterPointIndices)

  • ~output/polygons (jsk_recognition_msgs/PolygonArray)

  • ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Concatenated planes. Coefficients parameters are refined by RANSAC.

Parameters

  • ~connect_angular_threshold (Double, default: 0.1)

    Angular threshold to regard two planes as near.

  • ~connect_distance_threshold (Double, default: 0.1)

    Euclidean distance threshold to regard two planes as near.

  • ~connect_perpendicular_distance_threshold (Double, default: 0.1)

    Distance threshold to connect two planes in perpendicular direction.

  • ~ransac_refinement_max_iteration (Integer, default: 100)

    The maximum number of iteration of RANSAC refinement.

  • ~ransac_refinement_outlier_threshold (Double, default: 0.1)

    Outlier threshold of RANSAC refinmenet.

  • ~ransac_refinement_eps_angle (Double, default: 0.1)

    Eps angle threshold of RANSAC refinment using normal direction of the plane.

  • ~min_size (default: 100)

    Minimum inlier of concatenated polygons.

  • ~min_area (default: 0.1)

  • ~max_area (default: 100.0)

    Minimum and maximum area of concatenated polygons.

Sample

roslaunch jsk_pcl_ros_utils sample_plane_concatenator.launch