HeightmapTimeAccumulation¶
Accumulate heightmap in time series and construct a new heightmap.
Subscription Topic¶
~input
(sensor_msgs/Image
)Input new heightmap(t=k).
~input/prev_pointcloud
(sensor_msgs/PointCloud2
)Accumulated heightmap represented in pointcloud from 0 to k-1 step.
~input/config
(jsk_recognition_msgs/HeightmapConfig
)Config topic.
Publishing Topic¶
~output
(sensor_msgs/Image
)Accumulated heightmap.
~output/config
(jsk_recognition_msgs/HeightmapConfig
)Config topic.
Advertising Service¶
~reset
(std_srvs/Empty
)Reset heightmap cache.
Parameters¶
~fixed_frame_id
(String, required)Fixed frame ID used for transforming pointcloud from previous coordinate to current coordinate.
~center_frame_id
(String, required)Center frame ID used for transforming pointcloud from previous coordinate to current coordinate.
~tf_queue_size
(Int, default:10
)Queue size for
tf::MessageFilter
.~use_offset
(Bool, default:false
)use averaging height offset to fit input and prev_pointcloud
This parameter can be changed by
dynamic_reconfigure
.~use_bilateral
(Bool, default:false
)use bilateral filtering after accumulation
This parameter can be changed by
dynamic_reconfigure
.~bilateral_filter_size
(Integer, default:5
)Kernel size of bilateral filtering.
This parameter can be changed by
dynamic_reconfigure
.~bilateral_sigma_color
(Double, default:0.04
)filter sigma of color space.
This parameter can be changed by
dynamic_reconfigure
.~bilateral_sigma_space
(Double, default:5
)filter sigma of coordinate space.
This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_pcl_ros sample_heightmap_time_accumulation.launch