What is this?

Convert jsk_recognition_msgs/PolygonArray to geometry_msgs/PolygonStamped, and jsk_recognition_msgs/ModelCoefficientsArray to pcl_msgs/ModelCoefficients.

Subscribing Topics

  • ~input_polygons (jsk_recognition_msgs/PolygonArray)

    Input polygon array.

  • ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Input coefficients array. (expected the same order with input polygons)

Publishing Topics

  • ~output_polygon (geometry_msgs/PolygonStamped)

    Target polygon. (If ~use_likelihood is true, the plane which has the highest likelihood is selected, otherwise the first plane in array is selected.)

  • ~output_coefficients (pcl_msgs/ModelCoefficients)

    Output coefficients.


  • ~use_likelihood (Bool, default: false)

    If true, likelihood is used to select plane to be unwrapped.

  • ~plane_index (Int, default: 0)

    If ~use_likelihood is false, this index is used to select output plane.


roslaunch jsk_pcl_ros_utils sample_polygon_array_unwrapper.launch