What Is This

jsk_pcl/PointIndicesToMaskImage generates mask image from pcl_msgs/PointIndices of organized pointcloud and original sensor_msgs/Image.

Subscribing Topic

  • ~input (pcl_msgs/PointIndices)

    Indices of the point cloud to mask.

  • ~input/image (sensor_msgs/Image)

    In order to know width and height of the original image, jsk_pcl/PointIndicesToMaskImage requires input image. (Note If parameter ~static_image_size is True, this topic is not subscribed.)

Publishing Topic

  • ~output(sensor_msg/Image)

Mask image to get ~input indices from the origina limage.


  • ~approximate_sync (Bool, default: false)

    Approximately synchronize inputs if it’s true.

  • ~queue_size (Int, default: 100)

    How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.

  • ~static_image_size (Bool, default: false)

    If this parameter is true, the topic ~input/image is not used and paramter ~height and ~width is used to generate mask image.


  • ~height, ~width (Int)

    Size of mask image which will be generated.