HeightmapTimeAccumulation

../../_images/heightmap_time_accumulation.png

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