BoundingBoxFilter

Filter bounding boxes (jsk_recognition_msgs/BoundingBoxArray) with threshold of bounding box dimensions. Optionally with indices (jsk_recognition_msgs/ClusterPointIndices).

Publishing Topics

• ~output_box (jsk_recognition_msgs/BoundingBoxArray)

  Filtered bounding boxes.

• ~output_indices (jsk_recognition_msgs/ClusterPointIndices)

  Cluster indices filtered with indices of filtered bounding boxes. Published only with ~with_indices.

Subscribing Topics

• ~input_box (jsk_recognition_msgs/BoundingBoxArray)

  Input bounding boxes.

• ~input_indices (jsk_recognition_msgs/ClusterPointIndices)

  Input cluster point indices. Subscribed only with ~with_indices.

Parameters

• ~with_indices (bool, default: true, optional)

  Flag to enable filtering cluster indices also.

• ~use_x_dimension, ~use_y_dimension, ~use_z_dimension (bool, default: false, optional, dynparam)

  Flag to filtering with x, y, or z dimensions.

• ~x_dimension_min, ~y_dimension_min, ~z_dimension_min (float, default: 0.1, optional, dynparam)

  Minimum threshold of x, y, or z dimensions.

• ~x_dimension_max, ~y_dimension_max, ~z_dimension_max (float, default: 0.1, optional, dynparam)

  Maximum threshold of x, y, or z dimensions.

• ~filter_limit_negative (bool, default: false, optional, dynparam)

  Set to true if we want to return the data outside [filter_limit_min; filter_limit_max].

Sample

roslaunch sample_bounding_box_filter.launch