FuseDepthImages

Do sensor fusions by multiple depth images ignoring nan region in each image. For transformation of depth from one to another, you can use jsk_pcl/DepthImageCreator. See sample_fuse_depth_image.launch for detail.

Subscribing Topic

See rosparam ~input_topics.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Output fused depth image.

Parameters

Required

  • ~input_topics (String array, required)

    Input depth image topics.

Optional

  • ~approximate_sync (Boolean, default: False):

    Policy of synchronization, if False it synchornizes exactly, else approximately.

  • ~queue_size (Int, default: 100):

    Queue size of topic msgs for synchronization.

  • ~averaging (Bool, default: true)

    Average image values while sensor fusion.

Sample

roslaunch jsk_pcl_ros sample_fuse_images.launch