Flip jsk_recognition_msgs/PolygonArray to specified sensor_frame.

Subscribing Topic

  • ~input/polygons (jsk_recognition_msgs/PolygonArray)

  • ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  • ~input/indices (jsk_recognition_msgs/ClusterPointIndices)

    Input polygons. If ~use_indices is disabled, ~input/indices is not used.

Publishing Topic

  • ~output/polygons (jsk_recognition_msgs/PolygonArray)

  • ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  • ~output/indices (jsk_recognition_msgs/ClusterPointIndices)

    Output flipped polygons which look at the origin of sensor_frame. If ~use_indices is disabled, ~output/indices is not published.


  • ~sensor_frame (String, Required):

    The frame_id of sensor for polygons to look at.

  • ~queue_size (Int, default: 100):

    Queue size of subscribed messages for message synchronization.

  • ~use_indices (Bool, default: true):

    Use indices if this parameter is enabled.


roslaunch jsk_pcl_ros_utils sample_polygon_flipper.launch