Input original image and seed of foreground/background to obtain foreground and background image by applying GrabCut algorithm.


Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input image from which foreground/background will be extracted.

  • ~input/foreground (sensor_msgs/Image)

  • ~input/background (sensor_msgs/Image)

    Seed mask image defining foreground/background.

Publishing Topic

  • ~output/foreground (sensor_msgs/Image)

  • ~output/background (sensor_msgs/Image)

    Foreground/background image extracted from ~input.

  • ~output/foreground_mask (sensor_msgs/Image)

  • ~output/background_mask (sensor_msgs/Image)

    Foreground/background mask image extracted from ~input.


  • ~seed_pixel_policy (Int, default: 0)

    If 0, regard pixels in seed mask as absolute foreground/background.

    If 1, regard pixels in seed mask as probable foreground/background.

    This parameter can be changed by dynamic_reconfigure.


roslaunch jsk_perception sample_grabcut.launch