[jsk_perception] apply_mask_image publish roi

[kosuke55]

When camera_info is given, publish camera_info with roi of mask image.

[knorth55]

BTW, how can you use this camera info?
which node requires this roi values in camera info?
can you paste screen shot of your sample, too?

[kosuke55]

@knorth55

this is just a question but can we set this variable as true in this case?

I set true without thinking too much. I think It is better to give true or false with rosparam whether to use rectified image as input. How about it?

change name from roi to camera_info.

OK, I will change it.
For reference, attention_clipper also used the name roi.

jsk_recognition/jsk_pcl_ros/src/attention_clipper_nodelet.cpp

Line 361 in 81b136d

sensor_msgs::CameraInfo roi(*msg);

[kosuke55]

@knorth55
In my use case, reflect the detection result in the clipped image to the original image.
I think this is useful when the original image is large and processing is heavy, or when the object is too small to be detected.

Detection result in clipped image

Reflect in the original image

[k-okada]

thanks for contribution. could you add documentation for this? c.f.https://github.com/jsk-ros-pkg/jsk_recognition/pull/2535/files#diff-9cba1daceb335f6f97bf7980d0d51ec0

[kosuke55]

@k-okada
I added the documentation. Please check it.
https://github.com/jsk-ros-pkg/jsk_recognition/pull/2476/files#diff-96d5060a4501ac15a1ff116055e08cba