Nodelet based designe¶
Programs in jsk_recognition is written as nodelet to overcome communication overhead and they will not be activated until output topics is subscribed by other nodes.
The nodelets in jsk_recognition inherit
The superclass provides functionarity “Do not subscribe input topics if no output is required”.
Representation of subset of image and pointcloud¶
jsk_recognition uses mask image, point indices and so on to represent subset of image and pointcloud.
Mask image is a black and white image (encoded as MONO8) to represent subset of image.
Label image is a image (encoded as TYPE_32FC1) to represent subsets of image.
ROI is an rectangular space of image.
sensor_msgs/CameraInfois used to represent ROI.
Rect is a 2-D polygonal region of image.
geometry_msgs/PolygonStampedis originally designed for 3-D polygon, but in this case, it is used as 2-D polygon.
Point indices represent subset of pointcloud.
Cluster Point Indices
Cluster point indices is a set of point indices.