MaskImageToPointIndices: support multi channel mask image

[furushchev]

No description provided.

[k-okada]

please update the document too

[furushchev]

Updated.

[knorth55]

can you update output msg type in doc?
if you choose use_multi_channel:=true and target_index:=-1, ~output message type would be ClusterPointIndices

[knorth55]

Or you can use different topic namespace for the specific case.

[YutoUchimi]

I use different topic name. i.e. ~output for pcl_msgs/PointIndices and ~output/all_indices for jsk_recognition_msgs/ClusterPointIndices.

[YutoUchimi]

Hmm... travis test is unstable.
https://travis-ci.org/jsk-ros-pkg/jsk_recognition/jobs/521082606

[ROSTEST]-----------------------------------------------------------------------
[jsk_pcl_ros_utils.rosunit-test_mask_image_to_point_indices/test_published][FAILURE]
Topic [/mask_image_to_point_indices2/output/all_indices] is not published
  File "/usr/lib/python2.7/unittest/case.py", line 329, in run
    testMethod()
  File "/opt/ros/melodic/share/jsk_tools/src/test_topic_published.py", line 96, in test_published
    checker.topic_name)
  File "/usr/lib/python2.7/unittest/case.py", line 422, in assertTrue
    raise self.failureException(msg)
--------------------------------------------------------------------------------
SUMMARY
 * RESULT: FAIL
 * TESTS: 1
 * ERRORS: 0
 * FAILURES: 1
rostest log file is in /workspace/jsk-ros-pkg/jsk_recognition/log/rostest-812380ba91e4-24665.log
-- run_tests.py: verify result "/workspace/ros/ws_jsk_recognition/build/jsk_pcl_ros_utils/test_results/jsk_pcl_ros_utils/rostest-test_mask_image_to_point_indices.xml"
make[3]: Leaving directory '/workspace/ros/ws_jsk_recognition/build/jsk_pcl_ros_utils'
Built target _run_tests_jsk_pcl_ros_utils_rostest_test_mask_image_to_point_indices.test

[YutoUchimi]

Travis passed!
@knorth55 Could you review again?

[YutoUchimi]

Before 9df55df

The invalid output shown below was caused by JPEG compression of original images (kiva_pod_mask.jpg and circles.jpg). The images may contain some values other than 0 or 255.

After 9df55df

I increased the threshold from 0 to 127 in order to support JPEG images as much as possible.