Convert polygon array into label image. Label starts with 1 and 0 mean the pixel does not belong to any polygons. No z-buffer is taken into account and occlusion is not solved correctly.

Frame ID of polygons and camera_info must be the same.

Subscribing Topic

  • ~input (jsk_recognition_msgs/PolygonArray)

    Input 3-D polygon array.

  • ~input/camera_info (sensor_msgs/CameraInfo)

    Input camera info to project 3-D polygon.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Label image filled with ~input polygons. Currently only convex polygon is supported.


roslaunch jsk_perception sample_polygon_array_to_label_image.launch