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 is true.

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 is false.
~img_height: (Int, required)

Image height. Required only when use_info is false.
~queue_size (Int, Default: 10)

Queue size for message_filters. Used only when use_info is true.
~approximate_sync (Bool, Default: false)

Use approximate_sync or not. Used only when use_info is true.
~slop (Float, Default: 0.1)

Slop size for message_filters. Used only when use_info is true.

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¶

../../_images/ssd_rects.png

# 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¶

../../_images/ssd_rects_coral.png

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