PlaneReasoner

What Is This

../../_images/plane_reasoner.png

Pass through horizontal or vertical planes from input planes.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud.

    Only header of this topic is used for published topics.

  • ~input_inliers (jsk_recognition_msgs/ClusterPointIndices)

    Input cluster point indices of planes.

    This topic is not used for filtering, and only filtered plane indices will be published.

  • ~input_polygons (jsk_recognition_msgs/PolygonArray)

    Input plane polygons.

  • ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Input normal coefficients of planes.

Publishing Topic

  • ~output/vertical/inliers (jsk_recognition_msgs/ClusterPointIndices)

    Filtered cluster point indices of vertical planes.

  • ~output/vertical/polygons (jsk_recognition_msgs/PolygonArray)

    Filtered vertical plane polygons.

  • ~output/vertical/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Filtered normal coefficients of vertical planes.

  • ~output/horizontal/inliers (jsk_recognition_msgs/ClusterPointIndices)

    Filtered cluster point indices of horizontal planes.

  • ~output/horizontal/polygons (jsk_recognition_msgs/PolygonArray)

    Filtered horizontal plane polygons.

  • ~output/horizontal/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Filtered normal coefficients of horizontal planes.

Parameter

  • ~global_frame_id (String, default: odom)

    Frame ID of filtering coordinates.

    This parameter can be changed by dynamic_reconfigure.

  • ~horizontal_angular_threshold (Float, default: 0.1)

    Angular difference you allow about horizontal planes in radians.

    This parameter can be changed by dynamic_reconfigure.

  • ~vertical_angular_threshold (Float, default: 0.1)

    Angular difference you allow about vertical planes in radians.

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros_utils sample_plane_reasoner.launch