Only released in EOL distros:  

3d_interaction: blob3d | external_camera_localizer | projected_lightswitch_interface | projector_calibration | projector_interface | rcommander_interface | world_intersect

Package Summary

Nodes for intersecting rays with various types of world models.

Nodes

mouse_click

Captures X click events and publishes them as clicks

Published Topics

click (std_msgs/Empty)
  • Published clicks. Note that click location is ignored.

world_intersect

Intersects a ray, represented as a pose with a point cloud.

Subscribed Topics

cloud (sensor_msgs/PointCloud2)
  • The input pointcloud to be intersected with
pose (geometry_msgs/PoseStamped)
  • A pose reprenting the pointing vector.

Published Topics

intersected_points (invalid message type for MsgLink(msg/type))
  • All points in the input cloud which are intersected by the pointing vector, as a PointCloud
intersected_points (sensor_msgs/PointCloud2)
  • All points in the input cloud which are intersected by the pointing vector, as a PointCloud2
intersected_point (geometry_msgs/PointStamped)
  • The single intersected point that is closest to the origin of the pointing vector.

Parameters

vector_frame (string)
  • Defaults to std::string("intersected_vector")
octree_resolution (double)
  • Defaults to 0.02
min_dist (string)
  • Ignore points in the input cloud closer to the pointing vector origin than this.

intersect_plane

Find a ray-plane intersection.

Subscribed Topics

pose (geometry_msgs/PoseStamped)
  • A pose reprenting the pointing vector.

Published Topics

intersected_points (sensor_msgs/PointCloud2)
  • All points in the input cloud which are intersected by the pointing vector. This will only ever contain one point.

Parameters

~plane_frame (string)
  • The tf frame representing the plane to be intersected. The planes normal should be in the z direction.

Wiki: world_intersect (last edited 2013-05-01 16:04:31 by DanLazewatsky)