classification_result_visualizer.py

What is this?

Publish classification results as text markers for each classified object.

The ClassificationResult is synchronized with one topic which represents poses for each classified object / person.

Subscribing Topic

• ~input/classes (jsk_recognition_msgs/ClassificationResult)

  Classification result

• ~input/boxes (jsk_recognition_msgs/BoundingBoxArray)

  Bounding boxes of classified objects

• ~input/poses (geometry_msgs/PoseArray)

  Poses of classified objects

• ~input/people (jsk_recognition_msgs/PeoplePoseArray)

  Poses of classified people

• ~input/ObjectDetection (posedetection_msgs/ObjectDetection)

  Poses of classified objects

Publishing Topic

• ~output (visualization_msgs/MarkerArray)

  Text message markers

Parameters

• ~appriximate_sync (Bool, Default: false)

  Option to enable approximate synchronization

• ~queue_size (Int, Default: 100)

  Queue size of subscribers on synchronization

• ~slop (Double, Default: 0.1)

  Slop duration on approximate synchronization

• ~text_color_blue (Double, Default: 1.0)

  Blue of text color

• ~text_color_green (Double, Default: 0.0)

  Green of text color

• ~text_color_red (Double, Default: 0.0)

  Red of text color

• ~text_color_alpha (Double, Default: 1.0)

  Alpha of text color

• ~text_offset_x (Double, Default: 0.0)

  Text offset on x-axis for each object

• ~text_offset_y (Double, Default: 0.0)

  Text offset on y-axis for each object

• ~text_offset_z (Double, Default: 0.07)

  Text offset on y-axis for each object

• ~text_size (Double, Default: 0.05)

  Text size

• ~marker_lifetime (Double, Default: 5.0)

  Marker lifetime

• ~show_proba (Bool, Default: true)

  Enable to display probability for each classification