BoundingBoxOcclusionRejector

Rejects bounding boxes which occludes target object.

sample

$ roslaunch sample_boundingbox_occlusion_rejector.launch

Publishing Topics

  • ~output (jsk_recognition_msgs/BoundingBoxArray)

    Occlusion free candidate bounding boxes.

  • ~output/target_image (sensor_msgs/Image)

    Simulated rendered image of target object.

  • ~output/candidate_image (sensor_msgs/Image)

    Simulated rendered image of candidate object.

Subscribing Topics

  • ~input/camera_info (sensor_msgs/CameraInfo)

    CameraInfo of sensor.

  • ~input/target_boxes (jsk_recognition_msgs/BoundingBoxArray)

    BoundingBox array to represent target objects to see.

  • ~input/candidate_boxes (jsk_recognition_msgs/BoundingBoxArray)

    BoundingBox array of candidate poses.

Sample

roslaunch jsk_pcl_ros sample_boundingbox_occlusion_rejector.launch