BoundingBoxOcclusionRejector¶
Rejects bounding boxes which occludes target object.
Publishing Topics¶
~output
(jsk_recognition_msgs/BoundingBoxArray
)Occlusion free candidate bounding boxes.
~output/target_image
(sensor_msgs/Image
)Rendered mask image of target bounding boxes.
~output/candidate_image
(sensor_msgs/Image
)Rendered mask image of candidate bounding boxes.
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 objects.
Note that frame ID of all 3 input topics should be the same.
Sample¶
roslaunch jsk_pcl_ros sample_boundingbox_occlusion_rejector.launch