extract_top_polygon_likelihood.py

../../_images/extract_top_polygon_likelihood.png

What Is This

Extract maximum likelihood polygon from input polygons.

Subscribing Topic

  • ~input (jsk_recognition_msgs/PolygonArray)

    Polygons which have likelihood field.

  • ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Normal vector of polygons.

Publishing Topic

  • ~output (jsk_recognition_msgs/PolygonArray)

    Extracted plane polygon array.

  • ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Extracted coefficients.

Parameters

  • ~min_likelihood (Float, default: 0.7)

    Do not publish anything if all likelihood are smaller than this value.

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros sample_extract_top_polygon_likelihood.launch