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

== ROS API ==
{{{
#!clearsilver CS/NodeAPI
 name = plane_extraction_nodelet
 desc = The `plane_extraction_nodelet` nodelet takes in <<MsgLink(sensor_msgs/PointCloud2)>> messages and extracts planes using RANSAC. Convex hull polygons are calculated for each plane and publish as a <<MsgLink(cob_3d_mapping_msgs/ShapeArray)>>

sub{
 0.name = /point_cloud2
 0.type = sensor_msgs/PointCloud2
 0.desc = The input point cloud
}

pub{
 0.name = /shape_array
 0.type = cob_3d_mapping_msgs/ShapeArray
 0.desc = The extracted hull polygons
 1.name = /visualization_marker
 1.type = visualization_msgs/Marker
 1.desc = The extracted hull polygons as Marker for RViz
}

param{
 0.name = ~plane_constraint
 0.type = int
 0.default = 0
 0.desc = Constrain the planes extracted (0=NONE, 1=HORIZONTAL, 2=VERTICAL)
 1.name = ~voxel_leafsize
 1.type = double
 1.default = 0.04
 1.desc = Voxel resolution for down-sampling (in m)
 2.name = ~passthrough_min_z
 2.type = double
 2.default = -0.1
 2.desc = Minimum z value for pass-through filter (in m)
 3.name = ~passthrough_max_z
 3.type = double
 3.default = 3
 3.desc = Maximum z value for pass-through filter (in m)
 4.name = ~cluster_tolerance
 4.type = double
 4.default = 0.05
 4.desc = Minimum distance between points for clustering (in m)
 5.name = ~min_plane_size
 5.type = int
 5.default = 50
 5.desc = Minimum number of inliers for planes
 5.name = ~alpha
 5.type = double
 5.default = 0.1
 5.desc = Alpha value for convex hull
 6.name = ~target_frame
 6.type = string
 6.default = map
 6.desc = The frame input data is transformed to
 7.name = ~mode_action
 7.type = bool
 7.default = false
 7.desc = Use action or topic mode
 8.name = ~save_to_file
 8.type = bool
 8.default = false
 8.desc = Flag for saving the map as a PCD file after each update (for debugging)
 9.name = ~file_path
 9.type = string
 9.default = /tmp
 9.desc = File path for saving the map
}

req_tf{
}

prov_tf{
}

}}}

== Usage/Examples ==

=== Plane Extraction ===
Launch the plane extraction
{{{
roslaunch cob_3d_mapping_features extract_planes.launch
}}}