object_drawer

A ROS nodelet drawing object detection results on image

Dependencies

object_detection_msgs

• https://github.com/yoshito-n-students/object_detection_msgs

Subscribed Topics

image_raw (sensor_msgs/Image)

• base image to be annotated

objects_in (object_detection_msgs/Objects)

• detected objects on subscribed images
• timestamp must match that of a subscribed image

Published Topics

image_out (sensor_msgs/Image)

• annotated image showing contours and names of detected objects
• consisits of 4 layers; single-colored image (bottom), subscribed image, objects' contours, and texts (top)
• subtopics supported by image_transport are also published

Parameters

~queue_size (int, default: 10)

• queue size of a synchronizer for subscribed images and objects

~base_color (int[3], default: [ 0, 0, 0 ])

• color of the lowest layer of a published image

~image_transparency (double, default: 0.5)

• transparency of subscribed image layers in published images

~line_thickness (int, default: 3)

• thickness of subscribed objects' contours in published images

~line_color (int[3], default: [ 255, 0, 0 ])

• color of subscribed objects' contours in published images

~line_transparency (double, default: 0.0)

• transparency of subscribed objects' contours in published images

~text_thickness (int, defalut: 2)

• thickness of subscribed objects' names in published images

~text_color (int[3], default: [ 255, 255, 255 ])

• color of subscribed objects' names in published images

~text_transparency (double, default: 0.0)

• transparency of subscribed objects' names in published images

~font_scale (double, default: 0.8)

• font size of subscribed objects' names in published images

~image_transport (string, default: "raw")

• transport type of the subscribed image topic

Examples

see launch/test.launch