find_object_on_plane.md

FindObjectOnPlane

What Is This

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