rect_array_to_cluster_point_indices.py¶
What is this?¶
Convert jsk_recognition_msgs/RectArray
to jsk_recognition_msgs/ClusterPointIndices
Subscribing Topic¶
~input
(jsk_recognition_msgs/RectArray
)Input rect array.
~input/info
(sensor_msgs/CameraInfo
)Input camera info. Subscribe only when
use_info
istrue
.
Publishing Topic¶
~output
(jsk_recognition_msgs/ClusterPointIndices
)Output cluster point indices.
Parameters¶
~use_info
(Bool, Default:false
)Subscribe camera_info topic or not
~img_width
: (Int, required)Image width. Required only when
use_info
isfalse
.~img_height
: (Int, required)Image height. Required only when
use_info
isfalse
.~queue_size
(Int, Default:10
)Queue size for
message_filters
. Used only whenuse_info
istrue
.~approximate_sync
(Bool, Default:false
)Use approximate_sync or not. Used only when
use_info
istrue
.~slop
(Float, Default:0.1
)Slop size for
message_filters
. Used only whenuse_info
istrue
.
Sample¶
roslaunch jsk_recognition_utils sample_rect_array_to_cluster_point_indices.launch
Sample with SSD object detector¶
SSD object detector with GPU or CPU¶
# CPU
roslaunch jsk_recognition_utils sample_ssd_to_bounding_box_73b2_kitchen.launch gpu:=-1
# GPU
roslaunch jsk_recognition_utils sample_ssd_to_bounding_box_73b2_kitchen.launch gpu:=0
SSD object detector with TPU¶
roslaunch jsk_recognition_utils sample_ssd_to_bounding_box.launch gpu:=-1
# coral ssd launch
source ~/coral_ws/devel/setup.bash
roslaunch jsk_recognition_utils sample_ssd_coral.launch