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bounding_box_occlusion_rejector.md

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BoundingBoxOcclusionRejector

Rejects bounding boxes which occludes target object.

Publishing Topics

  • ~output (jsk_recognition_msgs/BoundingBoxArray)

    Occlusion free candidate bounding boxes.

  • ~output/target_image (sensor_msgs/Image)

    Rendered mask image of target bounding boxes.

  • ~output/candidate_image (sensor_msgs/Image)

    Rendered mask image of candidate bounding boxes.

Subscribing Topics

  • ~input/camera_info (sensor_msgs/CameraInfo)

    CameraInfo of sensor.

  • ~input/target_boxes (jsk_recognition_msgs/BoundingBoxArray)

    BoundingBox array to represent target objects to see.

  • ~input/candidate_boxes (jsk_recognition_msgs/BoundingBoxArray)

    BoundingBox array of candidate objects.

Note that frame ID of all 3 input topics should be the same.

Sample

roslaunch jsk_pcl_ros sample_boundingbox_occlusion_rejector.launch