Accumulate heightmap in time series and construct a new heightmap.

Subscription Topic

  • ~input (sensor_msgs/Image)

    Input new heightmap(t=k).

  • ~input/prev_pointcloud (sensor_msgs/PointCloud2)

    Accumulated heightmap represented in pointcloud from 0 to k-1 step.

  • ~input/config (jsk_recognition_msgs/HeightmapConfig)

    Config topic.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Accumulated heightmap.

  • ~output/config (jsk_recognition_msgs/HeightmapConfig)

    Config topic.

Advertising Service

  • ~reset (std_srvs/Empty)

    Reset heightmap cache.


  • ~use_offset (default: false)

    use averaging height offset to fit input and prev_pointcloud

  • ~use_bilateral (Bool, default: false)

    use bilateral filtering after accumulation

  • ~bilateral_filter_size (Integer, default: 5)

    Kernel size of bilateral filtering.

  • ~bilateral_sigma_color (Double, default: 0.04)

    filter sigma of color space.

  • ~bilateral_sigma_space (Double, default: 5)

    filter sigma of coordinate space.