39 lines
1.9 KiB
XML
Executable File
39 lines
1.9 KiB
XML
Executable File
<library path="lib/libcostmap_converter">
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<class type="costmap_converter::CostmapToPolygonsDBSMCCH" base_class_type="costmap_converter::BaseCostmapToPolygons">
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<description>
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This class converts costmap2d obstacles into a vector of convex polygons.
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Clustering is performed with DBScan. Convex polygons are detected using the Monotone Chain Convex Hull algorithm.
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</description>
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</class>
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<class type="costmap_converter::CostmapToLinesDBSMCCH" base_class_type="costmap_converter::BaseCostmapToPolygons">
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<description>
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This class converts costmap2d obstacles into a vector of lines (represented as polygon msg).
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Clustering is performed with DBScan. Clusters are transformed into convex polygons using the Monotone Chain Convex Hull algorithm.
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The resulting keypoints are used for possible line candidates.
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A line is only defined if there exist a specified number of support points between each keypoint pair.
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</description>
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</class>
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<class type="costmap_converter::CostmapToLinesDBSRANSAC" base_class_type="costmap_converter::BaseCostmapToPolygons">
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<description>
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This class converts costmap2d obstacles into a vector of lines (represented as polygon msg).
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Clustering is performed with DBScan. For each cluster RANSAC is applied sequentally to fit multiple line models.
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</description>
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</class>
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<class type="costmap_converter::CostmapToPolygonsDBSConcaveHull" base_class_type="costmap_converter::BaseCostmapToPolygons">
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<description>
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This class converts costmap2d obstacles into a vector of non-convex (concave) polygons.
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</description>
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</class>
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<class type="costmap_converter::CostmapToDynamicObstacles" base_class_type="costmap_converter::BaseCostmapToPolygons">
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<description>
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This class detects and tracks obstacles from a sequence of costmaps.
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</description>
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</class>
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</library>
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