Magnify polygons by specified length.

Subscribing Topic

  • ~input (jsk_recognition_msgs/PolygonArray)

    Input polygons

Publishing Topic

  • ~output (jsk_recognition_msgs/PolygonArray)

    Output magnified polygons


  • ~use_scale_factor (Bool, default: false)

    If this is set true, use scale factor to magnify, otherwise use distance.

  • ~magnify_distance (Double, default: 0.2)

    Length to scale polygons. Default value 0.2 means the distance of each corresponding edges will be 0.2 m. If this value is less than 0, output polygons are shrinked.

  • ~magnify_scale_factor (Double, default: 0.8)

    Factor to scale polygons. Default value 0.8 means the volume of magnified polygons are 80% of the original polygons. This parameter is valid only when ~use_scale_factor is set true.


roslaunch jsk_pcl_ros_utils sample_polygon_magnifier.launch