rect_array_in_panorama_to_bounding_box_array.py¶
This node calculates distances to RectArray in a panorama image with FOV of the image, heights of rects and heights of each labels with the equation (object height [m]) = (distance [m]) * (object height in panorama image [rad])
, and publish BoundingBoxArray.
Sample is sample_rect_array_in_panorama_to_bounding_box_array.launch
Subscribing Topics¶
~panorama_info
(jsk_recognition_msgs/PanoramaInfo
)
Panorama info topic.
~input_class
(jsk_recognition_msgs/ClassificationResult
)
ClassificationResult from object detection with the panorama image topic
~input_rects
(jsk_recognition_msgs/RectArray
)
RectArray from object detection with the panorama image topic
Publishing Topics¶
~bbox_array
(jsk_recognition_msgs/BoundingBoxArray
)
BoundingBoxArray of each object of output of object detection.
Parameters¶
~frame_fixed
(string, default:fixed_frame
)
The frame_id of BoundingBoxArray. Assumed to be a fixed frame.
~dimensions_labels
(dict of string to lists of float values, default:{}
)
Dimensions for each labels. These are used for BoundingBoxArray and also calculation of distance.
e.g. {'person':[0.5,0.5,1.5]}
~duration_timeout
(float, default: `0.05)
Duration of timeout for lookup transform
Sample¶
roslaunch jsk_perception sample_rect_array_in_panorama_to_bounding_box_array.launch