kalman-filtered-objectdetection-marker.l¶
What is this?¶
Apply kalman filter to posedetection_msgs/ObjectDetection
message and show marker.
Subscribing Topic¶
input/ObjectDetection
(posedetection_msgs/ObjectDetection
)Result of object detection.
input/image
(sensor_msgs/Image
)Trigger topic to publish dummy pose to
attention_clipper/input/pose
.input/switch
(std_msgs/Bool
)Whether to subscribe
input/ObjectDetection
.
Publishing Topics¶
object_detection_marker_array
(visualization_msgs/MarkerArray
)Marker of raw pose.
filtered
(visualization_msgs/MarkerArray
)Marker of filtered pose.
outlier
(visualization_msgs/MarkerArray
)Marker of outlier.
attention_clipper/input/pose
(geometry_msgs/PoseStamped
)Pose of detected object.
posewithcovstamped
(geometry_msgs/PoseWithCovarianceStamped
)simplecov
(geometry_msgs/PoseWithCovarianceStamped
)Pose of detected object with covariance.
Advertising Service¶
targetobj
(posedetection_msgs/TargetObj
)Service API to return object pose.
Parameters¶
~object_width
(Float, default:0
)~object_height
(Float, default:0
)Width/height of object.
~relative_pose
(String, default:0 0 0 0 0 0 1
)Relative pose.
~detection_topic
(String, default:/kinect_head/rgb/ObjectDetection
)This parameter is not used for now.
~marker_life
(Float, default:300
)Life time of marker in seconds.
~base_frame_id
(String, default:/base_footprint
)Frame ID of base.
~target_type
(String, default:""
)Target type.
Sample¶
roslaunch jsk_perception sample_kalman_filtered_objectdetection_marker.launch