Compute likelihood based on distance. The nearer polygon is, the larger likelihood is.

The likelihood is determined by 1/(1+d^2) where d is a distance from ~target_frame_id to the polygon.

Subscribing Topic

  • ~input (jsk_recognition_msgs/PolygonArray)

    Input polygon array.

Publishing Topic

  • ~output (jsk_recognition_msgs/PolygonArray)

    Output polygon array.


  • ~target_frame_id (String, required)

    Frame id to compute polygon’s distance from.

  • ~tf_queue_size (Int, default: 10)

    Queue size of tf message filter


roslaunch jsk_pcl_ros_utils sample_polygon_array_distance_likelihood.launch