draw_rects

What is this?

Draw rectangles (and their classes if available) on image

If you want to draw non-ascii characters, use draw_rects.py. The sample program described below (sample_draw_rects_for_non_ascii_labels.launch) needs to build jsk_recognition_utils in order to install Japanese fonts.

Subscribing Topic

• ~input (sensor_msgs/Image)

  Raw image.

• ~input/rects (jsk_recognition_msgs/RectArray)

  Rectangles on an input image.

• ~input/class (jsk_recognition_msgs/ClassificationResult)

  Class labels for each rectangles.

Publishing Topic

• ~output (sensor_msgs/Image)

  Image on which rectangles and classes are drawn.

Parameters

• ~approximate_sync (Bool, default: False)

  Whether to use approximate for input topics.

• ~queue_size (Int, default: 100)

  How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.

• ~use_classification_result (Bool, default: False)

  Use ~input/class as class labels if enabled.

• ~show_proba (Bool, default: True)

  Show probability for each class labels if enabled. This option is valid when ~use_classification_result is True.

• ~rect_boldness (Int, default: 2)

  Boldness for each rectangles.

• ~font_path (String, default: "")

  Font path. This value is only valid in draw_rects.py. Specify the font with the characters you want to display.

• ~label_size (Double, default: 1.0)

  Text size for each class labels.

• ~label_boldness (Double, default: 2.0)

  Boldness for each characters of class label texts.

• ~label_font (Enum[Int], default: FONT_HERSHEY_SIMPLEX)

  Font for class labels.

• ~label_margin_factor (Dobule, default: 1.1)

  Margin factor for class label background rectangle

• ~resolution_factor (Double, default: 2.0)

  Factor for resolution of output image. When this option is set as 1.0, an output image has the same resolution as an input image.

• ~interpolation_method (Enum[Int], default: INTER_LANCZOS4)

  Method for interpolation on input image resizing.

Example

roslaunch jsk_perception sample_draw_rects.launch

The sample to display Japanese is as follows.

roslaunch jsk_perception sample_draw_rects_for_non_ascii_labels.launch