What Is This


List up bounding parallelogram of input 2D mask image using 3D plane normal coefficients, and choose the minimum area from them.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input mask image.

  • ~input/camera_info (sensor_msgs/CameraInfo)

    Input camera info.

  • ~input/coefficients (pcl_msgs/ModelCoefficients)

    Input normal coefficients of plane.

Publishing Topic

  • ~debug/min_area_rect_image (sensor_msgs/Image)

    Visualization of minimum bounding parallelogram of mask.

    Red rectangle is aligned to x and y axis.

    Green parallelograms are bounding parallelograms of mask.

    Yellow parallelogram is the bounding parallelogram which is estimated to be minimum.


roslaunch jsk_pcl_ros sample_find_object_on_plane.launch