What is this?


Publishing a ROI mask of the tracking object.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Raw image.

  • ~input/polygon (geometry_msgs/PolygonStamped)

    Initial window of object to track.

Publishing Topic

  • ~output/mask (sensor_msgs/Image)

    A ROI mask of the tracking object.

  • ~debug/image (sensor_msgs/Image)

    Debug image which has visualized keypoints and rectangle of the tracking object in frame.


  • ~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.

  • ~approximate_sync (Bool, default: False)

    Whether to use approximate for input topics.


roslaunch jsk_perception sample_consensus_tracking.launch