PolygonMagnifier¶
Magnify polygons by specified length.
Subscribing Topic¶
~input
(jsk_recognition_msgs/PolygonArray
)Input polygons
Publishing Topic¶
~output
(jsk_recognition_msgs/PolygonArray
)Output magnified polygons
Parameters¶
~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 be0.2
m. If this value is less than0
, 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 settrue
.
Sample¶
roslaunch jsk_pcl_ros_utils sample_polygon_magnifier.launch