polygon_array_to_box_array.py¶
What is this?¶
Convert jsk_recognition_msgs/PolygonArray
to jsk_recognition_msgs/BoundingBoxArray
containing the polygons.
For example, this can be used when users use polygon for collision avoidance programs.
Subscribing Topic¶
~input/polygons
(jsk_recognition_msgs/PolygonArray
)Input polygon array.
~input/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Input coefficients array. We assume coeffecients for plane detection.
Publishing Topic¶
~output/boxes
(jsk_recognition_msgs/BoundingBoxArray
)Output boxes. Each box contains each input polygon. The long side of the bounding box is the x-axis, and the normal direction is the z-axis.
~output/polygons
(jsk_recognition_msgs/PolygonArray
)Output polygons.
~output/coefficients
(jsk_recognition_msgs/ModelCoefficientsArray
)Output coeffecients.
Parameters¶
~thickness
(Float, default:0.0001
)Thickness of bounding box.
Sample¶
roslaunch jsk_recognition_utils sample_polygon_array_to_box_array.launch