What is this?


Predict object instance masks and labels.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Raw image.

Publishing Topic

  • ~output/cluter_indices (jsk_recognition_msgs/ClusterPointIndices)

    Image indices of each instance.

  • ~output/labels (jsk_recognition_msgs/LabelArray)

    Class labels of each instance.

  • ~output/viz (sensor_msgs/Image)

    Visualized image of recognition result.


  • ~gpu (Int, default: 0)

    GPU id.

  • ~score_thresh (Float, default: 0.7)

    Score threshold of detections.

  • ~fg_class_names (List of String, required)

    Foreground class names that is used to identify number of class. It is also used for the name field of ~output/labels.

  • ~pretrained_model (String, required)

    Pretrained model path.


roslaunch jsk_perception sample_mask_rcnn_instance_segmentation.launch gpu:=0