Remove plane if its normal is different from user-defined reference axis.
-
~input_polygons
(jsk_recognition_msgs/PolygonArray
)Input plane polygons.
-
~input_coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Input normal coefficients of planes.
-
~input_inliers
(jsk_recognition_msgs/ClusterPointIndices
)Input cluster point indices.
This topic is not used for filtering, and only filtered plane indices will be published.
Subscribed only when
~use_inliers
is set to true.
-
~output_polygons
(jsk_recognition_msgs/PolygonArray
)Filtered plane polygons.
-
~output_coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Filtered normal coefficients of planes.
-
~output_inliers
(jsk_recognition_msgs/ClusterPointIndices
)Filtered cluster point indices.
Published only when
~use_inliers
is set to true.
-
~use_inliers
(Bool, default:False
)Whether to subscribe
~input_inliers
. -
~allow_flip
(Bool, default:False
)Allow flipping before filtering.
-
~processing_frame_id
(String, required)Frame ID of
~reference_axis
. -
~reference_axis
(List of Float, required)Axis for filtering plane.
It must be composed of 3 float numbers.
Planes whose normal coefficients are different from this parameter will be removed.
-
~angle
(Float, default:0.0
)Target angle difference between plane axis and reference axis in radians.
This parameter can be changed by
dynamic_reconfigure
. -
~angle_thr
(Float, default:10.0 / 180.0 * pi
)Threshold of allowed angular difference in radians.
This parameter can be changed by
dynamic_reconfigure
.
roslaunch jsk_pcl_ros_utils sample_plane_rejector.launch