matchtemplate.py¶
What is this?¶

Run image template matching and publish the position of matched image.
Subscribing Topic¶
reference
(sensor_msgs/Image
)Input reference image.
search
(sensor_msgs/Image
)Input image to detect if part of which matches the
reference
.set_reference_point
(geometry_msgs/PointStamped
)Center point of reference window in
reference
image.set_search_rect
(jsk_recognition_msgs/Rect
)Searched window rectangle in
search
image.Please set this to top left point, width and height.
Publishing Topic¶
current_template
(sensor_msgs/Image
)Template image cropped from
reference
.result
(geometry_msgs/TransformStamped
)Pixel index of the center point of matched rectangle.
debug_image
(sensor_msgs/Image
)Visualization of matching result.
This topic is published only when
~show_debug_image
is set to true.
Parameters¶
~current_template_id
(String, default:''
)Not used now.
~match_method
(Int, default:1
)Choose from
TM_SQDIFF (0)
,TM_SQDIFF_NORMED (1)
,TM_CCORR (2)
,TM_CCORR_NORMED (3)
,TM_CCOEFF (4)
andTM_CCOEFF_NORMED (5)
.~template_color_space
(String, default:mono8
)Choose from
mono8
,bgr8
,bgra8
,hsv8
andhsva8
.~show_debug_image
(Bool, default:True
)Publish
debug_image
if true.~auto_search_area
(Bool, default:True
)Enable feedback of searching status if true.
~default_template_width
(Int, default:32
)Allowed value: 0 <= width <= 128.
~default_template_height
(Int, default:32
)Allowed value: 0 <= height <= 128.
~default_search_width
(Int, default:64
)Allowed value: 0 <= width <= 256.
~default_search_height
(Int, default:64
)Allowed value: 0 <= height <= 256.
Sample¶
roslaunch jsk_perception sample_matchtemplate.launch