sand_classifier

Terrain classifier for sand by Yumi Iwashita [email protected].

ROS API

1. sand_classifier_node

1.1 Published topics

image (sensor_msgs/Image)

Input color image

1.2 Subscribed topics

image_overlay (sensor_msgs/Image)

Overlayed image

image_label (sensor_msgs/CameraInfo)

Image containing terrain labels. 255=sand, 0=otherwise

image_probability (sensor_msgs/CameraInfo)

Image containing sand probability

1.3 Parameters

~threshold (double, default: 0.8)

Threshold for sand probability. Pixels with higher probability are regarded as sand.

~model_name (str)

Path to the training model name.
Pretrained models are found under models/

~setting_file (str)

Setting file for classifier.
See example files under spoc_lite/.

~use_* (bool)

Flags to enable each feature extraction.

2. sand_classifier_nodelet

Identical to the sand_classifier_nodelet.