solidity_rag_merge.py¶
What is this?¶

(red region in top image is segmented using euclidean clustering, yellow, purple and red region is segmented by solidity_rag_merge.)
Segment image region which has high solidity, using RAG. It firstly segments image with SLIC Superpixels, generates RAG based on solidity, and then merges regions.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Raw image. In most cases, this is mask or depth image.
~input/mask
(sensor_msgs/Image
)Region where the label should be ignored.
Publishing Topic¶
Default Topics
~output
(sensor_msgs/Image
, encoding: 32SC1)Label image of region with high solidity.
Optional Topics
Following topics are published when ~debug
is True
, see Parameters for more detail.
~debug/slic
(sensor_msgs/Image
, encoding: 32SC1)Label image segmented with SLIC Superpixels.
~debug/rag
(sensor_msgs/Image
)RAG overlayed image.
~debug/label_viz
(sensor_msgs/Image
)Label color overlayed image. This function can be replaced by label_image_decomposer.py but I added for easy debugging.
Parameters¶
~approximate_sync
(Bool, default:False
)Whether to use approximate for input topics.
~debug
(Bool, default:True
)Debug mode. In this mode, the node publishes ~debug/* topics.