label_image_decomposer.py¶

What is this?¶

Publish an image topic to which tile mask applied and tile image with decomposed with label.

~input (sensor_msgs/Image)

Raw image.
~input/label (sensor_msgs/Image)

Label image to decompose the input raw image with.

Default Topics

~output (sensor_msgs/Image)

Label image mask applied image.
~output/label_viz (sensor_msgs/Image)

Applied label to raw image to visualize. It computes the average pixel value of each label and draw with edge line. If parameter ~label_names is specified, the label names are also drawn as a legend.

Optional Topics

~output/tile (sensor_msgs/Image)

Tile image listing decomposed images. This is published when ~publish_tile is True. See Parameters
~output/fg_mask, ~output/bg_mask (sensor_msgs/Image)

Mask image for foreground and background according to the value of label. Currently, it assumes 0 value is background label. This is published when ~publish_mask is True. See Parameters

~approximate_sync (Bool, default: False)

Whether to use approximate for input topics.
~publish_tile (Bool, default: False)

Whether to publish tile image with decomposed images.
~publish_mask (Bool, default: False)

Whether to publish fore/background mask images.
~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.
~bg_label (Int, default: 0)

Background label which is not colorized.
~slop (Float, default: 0.1)

How many seconds you allow about the difference of timestamp when you specify ~approximate_sync.
~label_names (List of String, default: [])

The name of labels, and if this parameter is specified, the ~output/label_viz image is drawn with label name legend.
~only_label (Bool, default: False)

If True, ~input is not subscribed and ~input/label is only used to visualize the input label.
~alpha (Float, default: 0.3)

Ratio of label color when overlaying label image on input rgb image: label_color * alpha + rgb2gray(rgb) * (1 - alpha). Note that this parameter is not used if ~only_label is True.

roslaunch jsk_perception sample_label_image_decomposer.launch