SLICSuperPixels¶
Compute super pixels based on SLIC based on “SLIC Superpixels Compared to State-of-the-art Superpixel Methods” (TPAMI 2012). jsk_perception use implementation of https://github.com/PSMM/SLIC-Superpixels, https://github.com/berak/SLIC-Superpixels and https://github.com/garaemon/SLIC-SuperPixels.
Output of this node is an image and each value means label index.
Subscribing Topic¶
image
(sensor_msgs/Image
)Input image.
Publishing Topic¶
~output
(sensor_msgs/Image
)Output image. The encoding of image is
CV_32SC1
and each element value means label index.~debug
(sensor_msgs/Image
)Debug image, each border of cluster drawn by red contour. (optional, publish if ~publish_debug_images is true)
~debug/mean_color
(sensor_msgs/Image
)Debug image, each cluster is drawn by mean color of the cluster. (optional, publish if ~publish_debug_images is true)
~debug/center_grid
(sensor_msgs/Image
)Debug image, Center of each cluster is plotted by red dot. (optional, publish if ~publish_debug_images is true)
Parameters¶
~number_of_super_pixels
(Integer, default:100
)The number of super pixels.
~weight
(Integer, default:4
)Weight of metrics between color and pixel distance.
~publish_debug_images
(Bool, default:false
)Publish debug images (~debug, ~debug/mean_color, ~debug/centr_grid)
Sample¶
roslaunch jsk_perception sample_slic_super_pixel.launch