PolygonArrayAreaLikelihood¶
Compute likelihood based on area. The nearer polygon is, the larger likelihood is.
The likelihood is determined by 1/(1+d^2)
where d
is difference between area and expected area.
Subscribing Topic¶
~input
(jsk_recognition_msgs/PolygonArray
)Input polygon array.
Publishing Topic¶
~output
(jsk_recognition_msgs/PolygonArray
)Output polygon array.
Parameters¶
~area
(Float, default:1.0
)Expected size of area of polygon.
Sample¶
roslaunch jsk_pcl_ros_utils sample_polygon_array_area_likelihood.launch