What is this?


Predict object instance masks and labels.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Raw image.

Publishing Topic

  • ~output/cluter_indices (jsk_recognition_msgs/ClusterPointIndices)

    Image indices of each instance.

  • ~output/labels (jsk_recognition_msgs/LabelArray)

    Class labels of each instance.

  • ~output/label_cls (sensor_msgs/Image)

    Label image color-coded by class.

  • ~output/label_ins (sensor_msgs/Image)

    Label image color-coded by instance.

  • ~output/viz (sensor_msgs/Image)

    Visualized image of recognition result.

  • ~output/class (jsk_recognition_msgs/ClassificationResult)

    Class information of detected objects

  • ~output/rects (jsk_recognition_msgs/RectArray)

    Rectangles of detected objects


  • ~gpu (Int, default: 0)

    GPU id.

  • ~score_thresh (Float, default: 0.7)

    Score threshold of detections.

  • ~fg_class_names (List of String, required)

    Foreground class names that is used to identify number of class. It is also used for the name field of ~output/labels.

  • ~pretrained_model (String, required)

    Pretrained model path.

  • ~classifier_name (String, default: rospy.get_name())

    Name of this classifier

  • ~anchor_scales (List, default: [4, 8, 16, 32])

    Anchor scales parameter for Mask RCNN.

  • ~min_size (Int, default: 600)

    Min size parameter of the input image for Mask RCNN.

  • ~max_size (Int, default: 1000)

    Max size parameter of the input image for Mask RCNN.


roslaunch jsk_perception sample_mask_rcnn_instance_segmentation.launch gpu:=0 COCO:=true  # COCO dataset (~80 classes)
roslaunch jsk_perception sample_mask_rcnn_instance_segmentation.launch gpu:=0 COCO:=false  # VOC dataset (~20 classes)


roslaunch jsk_perception mask_rcnn_instance_segmentation.launch gpu:=0 COCO:=true INPUT_IMAGE:=/camera/color/image_raw