ApplyMaskImage¶
Apply mask image to original image and visualize it. It’s a utlity to visualize mask image.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Original image.
~input/mask
(sensor_msgs/Image
)~input/camera_info
(sensor_msgs/CameraInfo
, optional)Mask image.
Publishing Topic¶
~output
(sensor_msgs/Image
)Masked image. The image is clipped by bounding box of mask image and filtered by the mask. The region not specified by mask image is filled by 0.
~output/mask
(sensor_msgs/Image
)Clipped mask image. The image is clipped by bounding box of mask image.
~output/camera_info
(sensor_msgs/CameraInfo
)camra_info whose roi is bounding box of mask image.
Parameters¶
~approximate_sync
(Bool, default:false
)Approximately synchronize inputs if it’s true.
~negative
(Bool, default:false
)Flip the max region of mask image or not.
~clip
(Bool, default:true
)Clip the max region of mask image or not.
~negative/before_clip
(Bool, default:true
)This decides order of negative and clip. If true, negative process is before clipping.
~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.
~cval
(Int, default:0
)Used to fill image before masking with input image and mask.
~mask_black_to_transparent
(Bool, default:false
)Change black region of mask image to transparent and publish RGBA8 image as
~output
if its’ true.~use_rectified_image
(Bool, default:true
)Set camera_info.roi.do_rectify of the output to true if it’s true.
Sample¶
roslaunch jsk_perception sample_apply_mask_image.launch