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.
-
~input
(jsk_recognition_msgs/PolygonArray
)Input polygon array.
-
~output
(jsk_recognition_msgs/PolygonArray
)Output polygon array.
-
~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
roslaunch jsk_pcl_ros_utils sample_polygon_array_distance_likelihood.launch