copy features/segmentation/surface from fuerte-devel

pcl_ros/cfg/EuclideanClusterExtraction.cfg

@@ -0,0 +1,19 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib;
+roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+gen = ParameterGenerator ()
+
+# enabling/disabling the unit limits
+# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
+gen.add ("cluster_tolerance", double_t, 0, "The spatial tolerance as a measure in the L2 Euclidean space", 0.05, 0.0, 2.0)
+gen.add ("cluster_min_size", int_t, 0, "The minimum number of points that a cluster must contain in order to be accepted", 1, 0, 1000)
+gen.add ("cluster_max_size", int_t, 0, "The maximum number of points that a cluster must contain in order to be accepted", 2147483647, 0, 2147483647)
+gen.add ("max_clusters", int_t, 0, "The maximum number of clusters to extract.", 2147483647, 1, 2147483647)
+
+exit (gen.generate (PACKAGE, "pcl_ros", "EuclideanClusterExtraction"))
+

pcl_ros/cfg/ExtractPolygonalPrismData.cfg

@@ -0,0 +1,15 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib; roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+import roslib.packages
+
+gen = ParameterGenerator ()
+# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
+gen.add ("height_min", double_t, 0, "The minimum allowed distance to the plane model value a point will be considered from", 0.0, -10.0, 10.0)
+gen.add ("height_max", double_t, 0, "The maximum allowed distance to the plane model value a point will be considered from", 0.5, -10.0, 10.0)
+
+exit (gen.generate (PACKAGE, "pcl_ros", "ExtractPolygonalPrismData"))

pcl_ros/cfg/Feature.cfg

@@ -0,0 +1,19 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib;
+roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+gen = ParameterGenerator ()
+
+#enum = gen.enum ([ gen.const("ANN", int_t, 0, "ANN"), gen.const("FLANN", int_t, 1, "FLANN"), gen.const("organized", int_t, 2, "Dense/organized data locator") ], "Set the spatial locator")
+# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
+gen.add ("k_search", int_t, 0, "Number of k-nearest neighbors to search for", 10, 0, 1000)
+gen.add ("radius_search", double_t,  0, "Sphere radius for nearest neighbor search",  0.0, 0.0, 0.5)
+#gen.add ("spatial_locator", int_t, 0, "Set the spatial locator", 0, 0, 2, enum)
+#gen.add ("spatial_locator", str_t, 0, "Set the spatial locator", "ANN")
+
+exit (gen.generate (PACKAGE, "pcl_ros", "Feature"))
+

pcl_ros/cfg/MLS.cfg

@@ -0,0 +1,22 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib;
+roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+gen = ParameterGenerator ()
+
+enum = gen.enum ([ gen.const("ANN", int_t, 0, "ANN"), gen.const("FLANN", int_t, 1, "FLANN"), gen.const("organized", int_t, 2, "Dense/organized data locator") ], "Set the spatial locator")
+# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
+gen.add ("spatial_locator", int_t, 0, "Set the spatial locator", 0, 0, 2, enum)
+gen.add ("search_radius", double_t,  0, "Sphere radius for nearest neighbor search",  0.02, 0.0, 0.5)
+#gen.add ("k_search", int_t, 0, "Number of k-nearest neighbors to search for", 10, 0, 1000)
+gen.add ("use_polynomial_fit", bool_t, 0, "Whether to use polynomial fit", True)
+gen.add ("polynomial_order", int_t, 0, "Set the spatial locator", 2, 0, 5)
+gen.add ("gaussian_parameter", double_t,  0, "How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit)",  0.02, 0.0, 0.5)
+#gen.add ("spatial_locator", str_t, 0, "Set the spatial locator", "ANN")
+
+exit (gen.generate (PACKAGE, "pcl_ros", "MLS"))
+

pcl_ros/cfg/SACSegmentation.cfg

@@ -0,0 +1,14 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib; roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+import SACSegmentation_common as common
+
+gen = ParameterGenerator ()
+common.add_common_parameters (gen)
+
+exit (gen.generate (PACKAGE, "pcl_ros", "SACSegmentation"))
+

pcl_ros/cfg/SACSegmentationFromNormals.cfg

@@ -0,0 +1,16 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib; roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+import roslib.packages
+import SACSegmentation_common as common
+
+gen = ParameterGenerator ()
+# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
+gen.add ("normal_distance_weight", double_t, 0, "The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.", 0.1, 0, 1.0)
+common.add_common_parameters (gen)
+
+exit (gen.generate (PACKAGE, "pcl_ros", "SACSegmentationFromNormals"))

pcl_ros/cfg/SACSegmentation_common.py

@@ -0,0 +1,21 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib; roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+
+def add_common_parameters (gen):
+  # add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = "")
+  gen.add ("max_iterations", int_t, 0, "The maximum number of iterations the algorithm will run for", 50, 0, 100000)
+  gen.add ("probability", double_t, 0, "The desired probability of choosing at least one sample free from outliers", 0.99, 0.5, 0.99)
+  gen.add ("distance_threshold", double_t, 0, "The distance to model threshold", 0.02, 0, 1.0)
+  gen.add ("optimize_coefficients", bool_t, 0, "Model coefficient refinement", True)
+  gen.add ("radius_min", double_t, 0, "The minimum allowed model radius (where applicable)", 0.0, 0, 1.0)
+  gen.add ("radius_max", double_t, 0, "The maximum allowed model radius (where applicable)", 0.05, 0, 1.0)
+  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)
+  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)
+  gen.add ("input_frame", str_t, 0, "The input TF frame the data should be transformed into, if input.header.frame_id is different.", "")
+  gen.add ("output_frame", str_t, 0, "The output TF frame the data should be transformed into, if input.header.frame_id is different.", "")
+

pcl_ros/cfg/SegmentDifferences.cfg

@@ -0,0 +1,16 @@
+#! /usr/bin/env python
+
+# set up parameters that we care about
+PACKAGE = 'pcl_ros'
+
+import roslib;
+roslib.load_manifest (PACKAGE);
+from dynamic_reconfigure.parameter_generator import *;
+gen = ParameterGenerator ()
+
+# enabling/disabling the unit limits
+# def add (self, name, paramtype, level, description, default = None, min = None, max = None, edit_method = ""):
+gen.add ("distance_threshold", double_t, 0, "The distance tolerance as a measure in the L2 Euclidean space between corresponding points.", 0.0, 0.0, 2.0)
+
+exit (gen.generate (PACKAGE, "pcl_ros", "SegmentDifferences"))
+