label_image_decomposer.py

What is this?

../../../../_images/label_image_decomposer1.png

Publish an image topic to which tile mask applied and tile image with decomposed with label.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Raw image.

  • ~input/label (sensor_msgs/Image)

    Label image to decompose the input raw image with.

Publishing Topic

Default Topics

  • ~output (sensor_msgs/Image)

    Label image mask applied image.

  • ~output/label_viz (sensor_msgs/Image)

    Applied label to raw image to visualize. It computes the average pixel value of each label and draw with edge line. If parameter ~label_names is specified, the label names are also drawn as a legend.

Optional Topics

  • ~output/tile (sensor_msgs/Image)

    Tile image listing decomposed images. This is published when ~publish_tile is True. See Parameters

  • ~output/fg_mask, ~output/bg_mask (sensor_msgs/Image)

    Mask image for foreground and background according to the value of label. Currently, it assumes 0 value is background label. This is published when ~publish_mask is True. See Parameters

Parameters

  • ~approximate_sync (Bool, default: False)

    Whether to use approximate for input topics.

  • ~publish_tile (Bool, default: False)

    Whether to publish tile image with decomposed images.

  • ~publish_mask (Bool, default: False)

    Whether to publish fore/background mask images.

  • ~queue_size (Int, default: 10)

    How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.

  • ~bg_label (Int, default: 0)

    Background label which is not colorized.

  • ~slop (Float, default: 0.1)

    How many seconds you allow about the difference of timestamp when you specify ~approximate_sync.

  • ~label_names (List of String, default: [])

    The name of labels, and if this parameter is specified, the ~output/label_viz image is drawn with label name legend.

  • ~only_label (Bool, default: False)

    If True, ~input is not subscribed and ~input/label is only used to visualize the input label.

  • ~alpha (Float, default: 0.3)

    Ratio of label color when overlaying label image on input rgb image: label_color * alpha + rgb2gray(rgb) * (1 - alpha). Note that this parameter is not used if ~only_label is True.

Sample

roslaunch jsk_perception sample_label_image_decomposer.launch