PolygonArrayToLabelImage¶

../../_images/polygon_array_to_label_image.png

Convert polygon array into label image. Label starts with 1 and 0 mean the pixel does not belong to any polygons. No z-buffer is taken into account and occlusion is not solved correctly.

Frame ID of polygons and camera_info must be the same.

Subscribing Topic¶

~input (jsk_recognition_msgs/PolygonArray)

Input 3-D polygon array.
~input/camera_info (sensor_msgs/CameraInfo)

Input camera info to project 3-D polygon.

Publishing Topic¶

~output (sensor_msgs/Image)

Label image filled with ~input polygons. Currently only convex polygon is supported.

Sample¶

roslaunch jsk_perception sample_polygon_array_to_label_image.launch