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Detection Visualizer

This package provides a ROS 2 node for visualizing computer vision detections. It subscribes to an image topic and a detections topic, and outputs an image with bounding boxes drawn on it. The output topic can be visualized in rviz.

Example image with bounding boxes created using darknet and the yolov3-tiny network

Topics

  • ~/images (Type sensor_msgs/msg/Image) - Input topic with images that have been given to a computer vision node
  • ~/detections (Type vision_msgs/msg/Detection2DArray) - Input topic with detections on the given image
  • ~/dbg_image (Type sensor_msgs/msg/Image) - Output topic which has bounding boxes drawn on it

It is assumed the image message and detections message have identical timestamps.