PolygonArrayDistanceLikelihood¶

../../_images/polygon_array_distance_likelihood.png

Compute likelihood based on distance. The nearer polygon is, the larger likelihood is.

The likelihood is determined by 1/(1+d^2) where d is a distance from ~target_frame_id to the polygon.

Subscribing Topic¶

~input (jsk_recognition_msgs/PolygonArray)

Input polygon array.

Publishing Topic¶

~output (jsk_recognition_msgs/PolygonArray)

Output polygon array.

Parameters¶

~target_frame_id (String, required)

Frame id to compute polygon’s distance from.
~tf_queue_size (Int, default: 10)

Queue size of tf message filter

Sample¶

roslaunch jsk_pcl_ros_utils sample_polygon_array_distance_likelihood.launch