CaptureStereoSynchronizer¶
What Is This¶
A nodelet to capture training data of stereo cameras. It subscribes several messages with
synchronizing timestamp and republish them into ~output
namespace.
Subscribing Topic¶
~input/pose
(geometry_msgs/PoseStamped
)Pose of checkerboard
~input/mask
(sensor_msgs/Image
)Mask image of the object
~input/mask_indices
(pcl_msgs/PointIndices
)Pointcloud indices of the object
~input/left_image
(sensor_msgs/Image
)Left camera image
~input/left_camera_info
(sensor_msgs/CameraInfo
)Left camera parameter
~input/right_camera_info
(sensor_msgs/CameraInfo
)Right camera parameter
~input/disparity
(stereo_msgs/DisparityImage
)Disparity image of the stereo camera.
Publishing Topic¶
~output/pose
(geometry_msgs/PoseStamped
)~output/mask
(sensor_msgs/Image
)~output/mask_indices
(pcl_msgs/PointIndices
)~output/left_image
(sensor_msgs/Image
)~output/left_camera_info
(sensor_msgs/CameraInfo
)~output/right_camera_info
(sensor_msgs/CameraInfo
)~output/disparity
(stereo_msgs/DisparityImage
)These topics are the same message to the
~input/foo
messages but all of them are republished only if input messages are synchronized.~output/count
(std_msgs/Int32
)Number of sample.
If
~input/pose
is near from any previously stored poses, then republishing input topics will be skipped.
Parameters¶
~rotational_bin_size
(Float, default:0.175
)Minimum allowable rotational pose difference between new pose and all stored poses in radians.
~positional_bin_size
(Float, default:0.1
)Minimum allowable positional pose difference between new pose and all stored poses in meters.
Sample¶
roslaunch jsk_pcl_ros sample_capture_stereo_synchronizer.launch