BoundingBoxOcclusionRejector¶

../../_images/boundingbox_occlusion_rejector.png 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