DepthCalibration¶
What Is This¶
This nodelet applies calibration model to depth image.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Input depth image.
The encoding should be
32FC1
.~camera_info
(sensor_msgs/CameraInfo
)Input camera_info of depth camera.
Publishing Topic¶
~output
(sensor_msgs/Image
)Output depth image.
Advertising Service¶
~set_calibration_parameter
(jsk_recognition_msgs/SetDepthCalibrationParameter
)Update parameters below except for
~uv_scale
.
Parameter¶
~coefficients2
(Array of double, default:[0, 0, 0, 0, 0]
)coefficients of calibration model.
~coefficients1
(Array of double, default:[0, 0, 0, 0, 1.0]
)coefficients of calibration model.
~coefficients0
(Array of double, default:[0, 0, 0, 0, 0]
)coefficients of calibration model.
~use_abs
(Boolean, default:False
)If you want to use absolute value in applying calibration model, please set this variable True.
~uv_scale
(Double, default:1.0
)If you want to scale value in applying calibration model, please set this variable.
Sample¶
roslaunch jsk_pcl_ros sample_depth_calibration.launch