BorderEstimator¶
Convert pointcloud into range image and detect border
Subscribing Topic¶
~input
(sensor_msgs/PointCloud2
)Input pointcloud
~input_camera_info
(sensor_msgs/CameraInfo
)Camera info is used to reconstruct organized range image when
~model_type
isplanar
Publishing Topic¶
~output_cloud
(sensor_msgs/PointCloud
)Pointcloud converted as range image. If
~model_type
isplanar
, it should be equal to original organized pointcloud, When~model_type
islaser
, original pointcloud and~output_cloud
is not same.~output_border_indices
(pcl_msgs/PointIndices
)Indices of border
~output_veil_indices
(pcl_msgs/PointIndices
)Indices of veil points
~output_shadow_indices
(pcl_msgs/PointIndices
)Indices of shadow edge
ourput_range_image
(sensor_msgs/Image
)Range image
Parameters¶
~model_type
(String, default:planar
)Choose model type of range image by this topic.
planar
,laser
orsphere
is allowed.~angular_resolution
(Double, default:0.5
)Angular resolution of range image. Only does
laser
model use this parameter.~noise_level
(Double, default:0.1
)Noise level of pointcloud. Only does
laser
model use this parameter.~min_range
(Double, default:0.0
)Minimam distance to take into account range image. Only does
laser
model use this parameter.~border_size
(Integer, default:0
)Border size to remove from range image.
~max_angle_height
(Double, default:2pi
)Maximum angle height of range image. Only does
laser
model use this parameter.~max_angle_width
(Double, default:2pi
)Maximum angle width of range image. Only does
laser
model use this parameter.
Sample¶
roslaunch jsk_pcl_ros sample_border_estimator.launch