Only released in EOL distros:
Package Summary
This package provides segmentation nodes based on various techniques.
Masked image or mask provided, and can be tuned via dynamic_reconfigure.
- Author: Created by Bence Magyar. Maintained by Jordi Pages
- License: BSD
- Source: git https://github.com/pal-robotics/pal_image_processing.git (branch: electric)
Package Summary
This package provides segmentation nodes based on various techniques.
Masked image or mask provided, and can be tuned via dynamic_reconfigure.
- Author: Created by Bence Magyar. Maintained by Jordi Pages
- License: BSD
- Source: git https://github.com/pal-robotics/pal_image_processing.git (branch: fuerte)
Package Summary
The pal_vision_segmentation package provides segmentation nodes based on various techniques. Masked image or mask is provided, and can be tuned via dynamic_reconfigure.
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar AT pal-robotics DOT com>
- Author: Bence Magyar <bence.magyar AT pal-robotics DOT com>
- License: BSD
- Source: git https://github.com/pal-robotics/pal_vision_segmentation.git (branch: hydro-devel)
Contents
Overview
Segmenting regions of interest in images is a wide field in Computer Vision and Image Processing. Some methods include a kind of pre-segmentation inside but there are some which can be boosted using masks on the image or masked images. In this package we provide ROS nodes to help with this image processing step. 
ROS API
disparity_segmentation
Provides distance-based segmentation based on a disparity image computed using stereo cameras.Subscribed Topics
disparity_image (stereo_msgs/DisparityImage)- Disparity image provided by stereo_img_proc.
- Rectified image. The disparity image is computed with respect to that so the masking is being done on the rectified image.
- Original camera info of the camera.
Published Topics
image_masked (sensor_msgs/Image)- Masked rectified image.
- Contains the camera info that corresponds to the rectified image. The disparity image is computed with respect to that so the masking is being done on the rectified image.
- Mask.
histogram_segmentation
Given a single image of the target object it provides histogram backprojection-based segmentation on a color image.Subscribed Topics
image (sensor_msgs/Image)- Input color image.
Published Topics
image_masked (sensor_msgs/Image)- Masked image.
- Mask.
template_segmentation
Given a single image of the target object it provides template matching-based segmentation on a color image.Subscribed Topics
image (sensor_msgs/Image)- Input color image.
Published Topics
image_masked (sensor_msgs/Image)- Masked image.
- Mask.