What is this?


Apply context as label candidates to label probability image. The probabilities of labels other than the candidates are set as 0.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Label probability image.

  • ~input/candidates (jsk_recognition_msgs/LabelArray)

    Array of candidates label to update ~candidates.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Label probability image after the context is applied.

  • ~output/label (sensor_msgs/Image)

    Label image after the context is applied.

Advertising Service

  • ~update_candidates (jsk_recognition_msgs/SetLabels)

    Update ~candidates like you do so with dynamic_reconfigure. (List of string is not supported in current dyncmic_reconfigure)


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

    If no candidates are provided, this node does nothing and just transports the input msg.

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

    Candidates that never changed by services or topics.


roslaunch jsk_perception sample_apply_context_to_label_probability.launch