paper_finder¶
Detect papers (rectangle) and publish posearray.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Input image.
~input/depth
(sensor_msgs/Image
)Input depth image. Subscribed if
~with_depth
istrue
.~input/camera_info
(sensor_msgs/CameraInfo
)Camera info. Subscribed if
~with_depth
istrue
.
Publishing Topics¶
~output/viz
(sensor_msgs/Image
)Visualization of recognition result in image.
~output/pose
(geometry_msgs/PoseArray
)Recognized paper pose.
~output/boxes
(jsk_recognition_msgs/BoundingBoxArray
)Recognized Bounding Box.
~output/length
(std_msgs/Float32MultiArray
)Recognized the rectangle sides of paper.
Parameters¶
~angle_tolerance
(float default:286.4788975654116
)
286.4788975654116 = np.rad2deg(5.0)
~area_tolerance
(float default:0.1
)~rect_x
(float default:0.210
)
0.210 [m] is the width of A4 paper.
~rect_y
(float default:0.297
)
0.297 [m] is the hight of A4 paper.
~length_tolerance
(float default:0.04
)~queue_size
(int default:10
)~with_depth
(bool default:true
)If true, use the depth of the detected square apex position for pose estimation.
~approximate_sync
(bool default:true
)If true, approximately synchronize inputs. Required if
~with_depth:=true
.~slop
(float default:0.1
)The slop time in second for
message_filters.ApproximateTimeSynchronizer
. Required if~with_depth:=true
and~approximate_sync:=true
.
Sample¶
roslaunch jsk_perception sample_paper_finder.launch