What is this?

Regard highly overlapped rectangles in an image as the same object and remove extra rectangles.

Subscribing Topic

  • ~input (jsk_recognition_msgs/RectArray)

    Input rectangles.

Publishing Topic

  • ~output (jsk_recognition_msgs/RectArray)

    Thinned out rectangles.

  • ~output/count (std_msgs/Int64)

    Number of output rectangles.


  • ~threshold (Float, default: 0.0)

    Maximum allowed value of IoU (intersect over union) for each pair of input rectangles.

Advertising Service

  • non_maximum_suppression (jsk_perception/NonMaximumSuppresion)

    Service API of non-maximum suppression described above.


roslaunch jsk_perception sample_non_maximum_suppression.launch