jsk_pcl_ros_samples

jsk_pcl_ros package samples

Install

sudo apt-get install -y ros-noetic-jsk-pcl-ros
sudo apt-get install -y ros-noetic-jsk-visualization
git clone https://github.com/hoshianaaa/jsk_pcl_ros_samples.git
cd ~/catkin_ws

catkin build 
or
catkin_make

source ~/catkin_ws/devel/setup.bash

Samples

attention_clipper(領域の切り抜き)

• start process

roslaunch jsk_pcl_ros_samples attention_clipper.launch

• move bounding box

rostopic pub /attention_clipper/input/pose geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'base_link'
pose:
  position:
    x: 0.0
    y: 0.1
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0"

• change bounding box scale

rostopic pub /attention_clipper/input/box jsk_recognition_msgs/BoundingBox "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: 'base_link'
pose:
  position: {x: 0.0, y: 0.1, z: 0.0}
  orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
dimensions: {x: 0.2, y: 0.2, z: 0.2}
value: 0.0
label: 0"

• control bounding box from gui

slide bar control

• multi bounding box

roslaunch jsk_pcl_ros_samples attention_clipper_multi.launch 

detect_graspable_poses_pcabase(graspable pose detection)

roslaunch jsk_pcl_ros_samples detect_graspable_poses_pcabase.launch

Octree_voxel_grid(点群のボクセル化)

roslaunch jsk_pcl_ros_samples octree_voxel_grid.launch

change resolution(boxcel size) from rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

HSI_color_filter(RGB点群のHSI色空間フィルター)

roslaunch jsk_pcl_ros_samples hsi_color_filter.launch

rqt_reconfigureでHSIのしきい値を変更できます。

rosrun rqt_reconfigure rqt_reconfigure

supervoxel segmentation

roslaunch jsk_pcl_ros_samples supervoxel_segmentation.launch

• change parameter

rosrun rqt_reconfigure rqt_reconfigure

normal_estimation_omp(法線推定)

roslaunch jsk_pcl_ros_samples normal_estimation_omp.launch

multi_plane_sac_segmentation(平面検出)

roslaunch jsk_pcl_ros_samples multi_plane_sac_segmentation.launch

region_growing_segmentation

roslaunch jsk_pcl_ros_samples region_growing_segmentation.launch

region_growing_multiple_plane_segmentation

roslaunch jsk_pcl_ros_samples region_growing_multiple_plane_segmentation.launch

normal_direction_filter(法線方向フィルター)

roslaunch jsk_pcl_ros_samples normal_direction_filter.launch

eucliean_segmentation(距離によるクラスタリング)

• bunny.pcd

• karage.pcd

pcl_nodelet/clusteringのtoleranceを変えると、結果が結構変わる

tolerance: 0.1

tolerance: 0.04