pointit.py¶
Select object bounding box by human pointing his/her finger toward one of them.
Subscribing Topics¶
~input
(jsk_recognition_msgs/PeoplePoseArray
)Pose of human pointing his/her finger toward some objects.
~input/boxes
(jsk_recogntion_msgs/BoundingBoxArray
)Object bounding boxes.
~input/class
(jsk_recognition_msgs/ClassificationResult
)Label of objects.
This topic is subscribed only when
~use_classfication_result
is True.
Publishing Topics¶
~output
(jsk_recognition_msgs/BoundingBoxArray
)Pointed object bounding box.
~output/marker_array
(visualization_msgs/MarkerArray
)Finger marker.
Parameters¶
~use_classfication_result
(Bool, default:False
)If True, this node will subscribe
~input/class
.Also, parameter
~approximate_sync
and~queue_size
will be enabled.~approximate_sync
(Bool, default:True
)Allow approximate synchronization of
~input/boxes
and~input/class
.~queue_size
(Int, default:10
(when~approximate_sync
is True) or100
(when~approximate_sync
is False))Maximum number of messages stored into subscriber for synchronization.
~slop
(Float, default:0.1
)Maximum allowed time for approximate synchronization in [sec].
This parameter is enabled only when
~approximate_sync
is True.~min_dist_threshold
(Float, default:0.0
)Minimum allowed distance from left/right hand to the nearest object.
~max_dist_threshold
(Float, default:0.1
)Maximum allowed distance from left/right hand to the nearest object.
~min_norm_threshold
(Float, default:0.2
)Minimum allowed distance from left/right finger to object candidates.
~use_tf2_buffer_client
(Bool, default:True
)Whether to use
tf2_ros.BufferClient
or not.If false,
tf2_ros.Buffer
andtf2_ros.TransformListener
will be used.
Sample¶
roslaunch jsk_perception sample_pointit.launch