Filter mask image with the size of white region relative to image size and reference mask size.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input mask.

  • ~input/reference (sensor_msgs/Image)

    Reference mask. Only subscribed if ~use_reference is true.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Filtered mask.


  • ~use_reference (Bool, default: false)

    If true, ~input/reference is subscribed, and rosparams: ~min_relative_size and ~max_relative_size are enabled.

  • ~min_size, ~max_size (Float, default: 0, 1)

    Size threshold of white region of input mask relative to image size.

  • ~min_relative_size, ~max_relative_size (Float, default: 0, 1)

    Size threshold relative to the reference mask’s white region. Enabled with ~use_reference:=true.

  • ~approximate_sync (Bool, default: false)

    Approximately synchronize topics if it is true.

  • ~queue_size (Int, default: 100)

    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.


roslaunch jsk_perception sample_filter_mask_image_with_size.launch