FindObjectOnPlane¶

What Is This¶

../../_images/find_object_on_plane.png

List up bounding parallelogram of input 2D mask image using 3D plane normal coefficients, and choose the minimum area from them.

Subscribing Topic¶

~input (sensor_msgs/Image)

Input mask image.
~input/camera_info (sensor_msgs/CameraInfo)

Input camera info.
~input/coefficients (pcl_msgs/ModelCoefficients)

Input normal coefficients of plane.

Publishing Topic¶

~debug/min_area_rect_image (sensor_msgs/Image)

Visualization of minimum bounding parallelogram of mask.

Red rectangle is aligned to x and y axis.

Green parallelograms are bounding parallelograms of mask.

Yellow parallelogram is the bounding parallelogram which is estimated to be minimum.

Sample¶

roslaunch jsk_pcl_ros sample_find_object_on_plane.launch