PolygonArrayToLabelImage¶
Convert polygon array into label image. Label starts with 1 and 0 mean the pixel does not belong to any polygons. No z-buffer is taken into account and occlusion is not solved correctly.
Frame ID of polygons and camera_info must be the same.
Subscribing Topic¶
~input
(jsk_recognition_msgs/PolygonArray
)Input 3-D polygon array.
~input/camera_info
(sensor_msgs/CameraInfo
)Input camera info to project 3-D polygon.
Publishing Topic¶
~output
(sensor_msgs/Image
)Label image filled with
~input
polygons. Currently only convex polygon is supported.
Sample¶
roslaunch jsk_perception sample_polygon_array_to_label_image.launch