pcl_ros: SACSegmentation_common.py Source File

00001 #! /usr/bin/env python
00002 
00003 # set up parameters that we care about
00004 PACKAGE = 'pcl_ros'
00005 
00006 import roslib; roslib.load_manifest (PACKAGE);
00007 from dynamic_reconfigure.parameter_generator import *;
00008 
00009 def add_common_parameters (gen):
00010   # add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = "")
00011   gen.add ("max_iterations", int_t, 0, "The maximum number of iterations the algorithm will run for", 50, 0, 100000)
00012   gen.add ("probability", double_t, 0, "The desired probability of choosing at least one sample free from outliers", 0.99, 0.5, 0.99)
00013   gen.add ("distance_threshold", double_t, 0, "The distance to model threshold", 0.02, 0, 1.0)
00014   gen.add ("optimize_coefficients", bool_t, 0, "Model coefficient refinement", True)
00015   gen.add ("radius_min", double_t, 0, "The minimum allowed model radius (where applicable)", 0.0, 0, 1.0)
00016   gen.add ("radius_max", double_t, 0, "The maximum allowed model radius (where applicable)", 0.05, 0, 1.0)
00017   gen.add ("eps_angle", double_t, 0, "The maximum allowed difference between the model normal and the given axis in radians.", 0.17, 0.0, 1.5707)
00018   gen.add ("min_inliers", int_t, 0, "The minimum number of inliers a model must have in order to be considered valid.", 0, 0, 100000)
00019   gen.add ("input_frame", str_t, 0, "The input TF frame the data should be transformed into, if input.header.frame_id is different.", "")
00020   gen.add ("output_frame", str_t, 0, "The output TF frame the data should be transformed into, if input.header.frame_id is different.", "")
00021