What Is This¶
List up bounding parallelogram of input 2D mask image using 3D plane normal coefficients, and choose the minimum area from them.
Input mask image.
Input camera info.
Input normal coefficients of plane.
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