ConsensusTracking

What is this?

Publishing a ROI mask of the tracking object.

Subscribing Topic

• ~input (sensor_msgs/Image)

  Raw image.

• ~input/polygon (geometry_msgs/PolygonStamped)

  Initial window of object to track.

Publishing Topic

• ~output/mask (sensor_msgs/Image)

  A ROI mask of the tracking object.

• ~debug/image (sensor_msgs/Image)

  Debug image which has visualized keypoints and rectangle of the tracking object in frame.

Parameters

• ~queue_size (Int, default: 10)

  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.

• ~approximate_sync (Bool, default: False)

  Whether to use approximate for input topics.

Sample

roslaunch jsk_perception sample_consensus_tracking.launch