matchtemplate.py¶

What is this?¶

Run image template matching and publish the position of matched image.

reference (sensor_msgs/Image)

Input reference image.
search (sensor_msgs/Image)

Input image to detect if part of which matches the reference.
set_reference_point (geometry_msgs/PointStamped)

Center point of reference window in reference image.
set_search_rect (jsk_recognition_msgs/Rect)

Searched window rectangle in search image.

Please set this to top left point, width and height.

current_template (sensor_msgs/Image)

Template image cropped from reference.
result (geometry_msgs/TransformStamped)

Pixel index of the center point of matched rectangle.
debug_image (sensor_msgs/Image)

Visualization of matching result.

This topic is published only when ~show_debug_image is set to true.

~current_template_id (String, default: '')

Not used now.
~match_method (Int, default: 1)

Choose from TM_SQDIFF (0), TM_SQDIFF_NORMED (1), TM_CCORR (2), TM_CCORR_NORMED (3), TM_CCOEFF (4) and TM_CCOEFF_NORMED (5).
~template_color_space (String, default: mono8)

Choose from mono8, bgr8, bgra8, hsv8 and hsva8.
~show_debug_image (Bool, default: True)

Publish debug_image if true.
~auto_search_area (Bool, default: True)

Enable feedback of searching status if true.
~default_template_width (Int, default: 32)

Allowed value: 0 <= width <= 128.
~default_template_height (Int, default: 32)

Allowed value: 0 <= height <= 128.
~default_search_width (Int, default: 64)

Allowed value: 0 <= width <= 256.
~default_search_height (Int, default: 64)

Allowed value: 0 <= height <= 256.

roslaunch jsk_perception sample_matchtemplate.launch