MaskImageToRect

../../_images/mask_image_to_rect.png

Convert a mask image into jsk_recognition_msgs/RectArray.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input mask image.

Publishing Topic

  • ~output (jsk_recognition_msgs/RectArray)

    An array of rectangles contains rectangles. They are bounding rectangles of the input mask.

Parameters

  • ~rect_type (Int, default: 0)

    Specify output rect types.

    0: Outputs a rect that encloses the entire mask.

    ../../_images/mask_image_to_rect.png

    1: Outputs bounding rectangles containing each contour that is output by applying opencv’s findContours with CV_RETR_EXTERNAL to the mask image.

    ../../_images/mask_image_to_rect_rect_type1.jpg

Sample

roslaunch jsk_perception sample_mask_image_to_rect.launch