extract_top_polygon_likelihood.py

What Is This

Extract maximum likelihood polygon from input polygons.

Subscribing Topic

• ~input (jsk_recognition_msgs/PolygonArray)

  Polygons which have likelihood field.

• ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  Normal vector of polygons.

Publishing Topic

• ~output (jsk_recognition_msgs/PolygonArray)

  Extracted plane polygon array.

• ~output/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

  Extracted coefficients.

Parameters

• ~min_likelihood (Float, default: 0.7)

  Do not publish anything if all likelihood are smaller than this value.

  This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros sample_extract_top_polygon_likelihood.launch