people_mask_publisher.py¶
What is this?¶

Create people mask image according to people pose information.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Input image.
~input/pose
(jsk_recognition_msgs/PeoplePoseArray
)Input people pose array.
Publishing Topic¶
~output
(sensor_msgs/Image
)People mask image.
~debug/output
(sensor_msgs/Image
)Debug image which has visualized rectangle of the masked limb part.
Parameters¶
~person_indices
(Int, Default:-1
)Which person to create mask of.
-1
represents creating masks of all people.~limb_part
(String or List of String, Default:all
)Which limb part to create mask of.
RHand
,LHand
,Nose
andall
is allowed.~arms_score_threshold
(Float, Default:0.25
)Threshold of arm score.
Used when
limb_part
includesRHand
orLHand
.~hand_ratio
(Float, Default:0.33
)Ratio that is used to predict hand position from elbow and wrist positions.
Used when
limb_part
includesRHand
orLHand
.~hand_width_ratio
(Float, Default:0.8
)Ratio that is used to predict hand region from arm length.
Used when
limb_part
includesRHand
orLHand
.~face_ratio
(Float, Default:0.6
)Ratio that is used to predict face position from nose and neck positions.
Used when
limb_part
includesNose
.~face_shoulder_ratio
(Float, Default:0.5
)Ratio that is used to predict face position from shoulder positions.
Used when
limb_part
includesNose
.face_width_margin_ratio
(Float, Default:1.3
)Ratio that is used to decide face width margin.
Used when
limb_part
includesNose
.~approximate_sync
(Bool, Default:False
)Use approximate synchronization policy.
~queue_size
(Int, Default:10
)Queue size for synchronization.
~slop
(Float, Default:0.1
)Slop for approximate sync.
Example¶
roslaunch jsk_perception sample_people_pose_estimation_2d.launch GPU:=0 LIMB_PART:='RHand'
roslaunch jsk_perception sample_people_pose_estimation_2d.launch GPU:=0 LIMB_PART:='Nose'