What is this?


Publish an image topic to which cluster of image indices is colorized.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Raw image.

  • ~input/cluster_indices (jsk_recognition_msgs/ClusterPointIndices)

    Cluster of indices to visualize.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Visualized image with colorized region which is assigned with the indices.


  • ~approximate_sync (Bool, default: False)

    Whether to use approximate for input topics.

  • ~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.

  • ~slop (Float, default: 0.1)

    How many seconds you allow about the difference of timestamp when you specify ~approximate_sync.


rosrun jsk_perception
roslaunch sample_image_cluster_indices_decomposer.launch