Convert a pointcloud(sensor_msgs/PointCloud2) into heightmap representation (sensor_msgs/Image).

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud

Publishing Topic

  • ~output (sensor_msgs/Image)

    fields of the image is CV_32FC2(float). Channel0 of the image represents heightmap and Channel1 of the image represents quality/intensity/reliability of value. If a pixel is not observed, it is filled by -FLT_MAX.

  • ~output/config (jsk_recognition_msgs/HeightmapConfig)

    Config topic.


  • ~resolution_x (Integer, default: 400)

  • ~resolution_y (Integer, default: 400)

    Resolution of height map

  • ~min_x (Double, default: -2.0)

  • ~max_x (Double, default: 2.0)

  • ~min_y (Double, default: -2.0)

  • ~max_y (Double, default: 2.0)

    Minimum and maximum value of heightmap dimension.

  • ~initial_probability (Double, default: 1.0)

    Initial value to be set to Channel1 of heightmap image