image_cluster_indices_decomposer.py

What is this?

Publish an image topic to which cluster of image indices is colorized.

Subscribing Topic

• ~input (sensor_msgs/Image)

  Raw image.

• ~input/cluster_indices (jsk_recognition_msgs/ClusterPointIndices)

  Cluster of indices to visualize.

Publishing Topic

• ~output (sensor_msgs/Image)

  Visualized image with colorized region which is assigned with the indices.

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.

• ~slop (Float, default: 0.1)

  How many seconds you allow about the difference of timestamp when you specify ~approximate_sync.

Sample

rosrun jsk_perception install_test_data.py
roslaunch sample_image_cluster_indices_decomposer.launch