HeightmapMorphologicalFiltering¶
Apply morphological filtering and average filter to fill small holes in pointcloud which is represented as heightmap.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Input heightmap. Hole should be represented as
-FLT_MAX
ornan
.Encoding should be
32FC2
.~input/config
(jsk_recognition_msgs/HeightmapConfig
)Config topic.
This topic name is automatically resolved by
~input
topic name.
Publishing Topic¶
~output
(sensor_msgs/Image
)Output heightmap.
~output/config
(jsk_recognition_msgs/HeightmapConfig
)Config topic.
This node just relays
~input/config
.
Parameters¶
~max_queue_size
(Integer, default:10
):Max queue size of subscription callback.
~mask_size
(Integer, default:2
):Size of kernel operator of average filtering.
~max_variance
(Double, default:0.1
):Allowable max variance in kernel operator
~smooth_method
(String, default:average_variance
)You can choose method of smoothing from
average_variance
andaverage_distance
.~use_bilateral
(Bool, default:false
)use bilateral filtering after smooth(interpolation) method
~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.
Sample¶
roslaunch jsk_pcl_ros sample_heightmap_morphological_filtering.launch