Class SegmentationOverlay

• Defined in File segmentation_overlay.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class SegmentationOverlay : public rclcpp::Node

Public Types

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image> syncPolicy

Public Functions

explicit SegmentationOverlay(const rclcpp::NodeOptions &options)

void onInit()

void overlayCB(const sensor_msgs::msg::Image::ConstSharedPtr &preview, const sensor_msgs::msg::Image::ConstSharedPtr &segmentation)

Public Members

message_filters::Subscriber<sensor_msgs::msg::Image> previewSub

message_filters::Subscriber<sensor_msgs::msg::Image> segSub

std::unique_ptr<message_filters::Synchronizer<syncPolicy>> sync

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr overlayPub

std::vector<std::string> labelMap = {"background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow", "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"}