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The cob_3d_mapping_features package provides feature extraction and segmantation algorithms in order to describe point clouds.

ROS API

plane_extraction_nodelet

The plane_extraction_nodelet nodelet takes in sensor_msgs/PointCloud2 messages and extracts planes using RANSAC. Convex hull polygons are calculated for each plane and publish as a cob_3d_mapping_msgs/ShapeArray

Subscribed Topics

/point_cloud2 (sensor_msgs/PointCloud2)

Published Topics

/shape_array (cob_3d_mapping_msgs/ShapeArray) /visualization_marker (visualization_msgs/Marker)

Parameters

~plane_constraint (int, default: 0) ~voxel_leafsize (double, default: 0.04) ~passthrough_min_z (double, default: -0.1) ~passthrough_max_z (double, default: 3) ~cluster_tolerance (double, default: 0.05) ~alpha (double, default: 0.1) ~target_frame (string, default: map) ~mode_action (bool, default: false) ~save_to_file (bool, default: false) ~file_path (string, default: /tmp)

Usage/Examples

Plane Extraction

Launch the plane extraction

roslaunch cob_3d_mapping_features extract_planes.launch

2019-07-13 12:33