What is this?


Convert label image to cluster point indices with assumption of 0 is background label and it is published as an another topic.

Subscribing Topic

  • ~input (sensor_msgs/Image, encoding: 32SC1)

    Label image.

Publishing Topic

  • ~output (jsk_recognition_msgs/ClusterPointIndices)

    Set of point indices and each point indices means each label. label value 0 is recognized as background label, so i(index of cluster point indices) + 1 = label number. (ex. point indices in index 0 is region where label value is 1)

  • ~output/bg_indices (sensor_msgs/PointIndices)

    Point indices which means background label.


  • ~bg_label (Int, default: 0)

    Label value for which background point indices is published.

  • ~ignore_labels (List of Int, default [])

    List of ignored labels. Indices of ignored labels are replaced by empty ones.


roslaunch jsk_pcl_ros_utils sample_label_to_cluster_point_indices.launch