HeightmapConverter¶
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.
Parameters¶
~use_projected_center
(Bool, default:False
)If true,
~fixed_frame_id
,~center_frame_id
and~projected_center_frame_id
will be enabled and heightmap will be created at~center_frame_id
.If false, heightmap will be created at input point cloud frame.
~fixed_frame_id
(String, default:map
)Parent frame ID of
~projected_center_frame_id
.~center_frame_id
(String, default:BODY
)Frame ID of center of output heightmap.
~projected_center_frame_id
(String, default:BODY_on_map
)Name of new frame ID used in
~output
.~resolution_x
(Integer, default:400
)~resolution_y
(Integer, default:400
)Width and height of the output height map in pixels.
These parameters can be changed by
dynamic_reconfigure
.~min_z
(Double, default:-inf
)~max_z
(Double, default:inf
)Minimum and maximum value to specify z range to be considered. Outside of this range will be ignored.
These parameters can be changed by
dynamic_reconfigure
.~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 in meters.
These parameters can be changed by
dynamic_reconfigure
.~duration_transform_timeout
(Double default:1.0
)duration of timeout for transform looking up of tf frames
~initial_probability
(Double, default:1.0
)Initial value to be set to Channel1 of heightmap image
This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_heightmap_converter.launch