ROIClipper¶
What Is This¶
It retrieves sensor_msgs/Image
and sensor_msgs/CameraInfo
and publish sensor_msgs/Image
of ROI.
It is similar to image_proc/crop_decimate
but you can use CameraInfo/roi
field to specify ROI.
We expect to use jsk_pcl/ROIClipper
with
jsk_pcl/AttentionClipper to get ROI image.
Subscribing Topic¶
~input/image
(sensor_msgs/Image
)Input image.
~input/camera_info
(sensor_msgs/CameraInfo
)Camera parameter and ROI field should be filled.
~input/image
and~input/camera_info
should be synchronized if~not_sync
is false.~input/cloud
(sensor_msgs/PointCloud2
)Input point cloud ROI will be applied to.
This topic is only enabled if
~not_sync
is true.
Publishing Topic¶
~output
(sensor_msgs/Image
)Image of ROI.
~output/cloud_indices
(pcl_msgs/PointIndices
)The indices of the pointcloud which is inside of the interest 3-D region.
~output/cloud
(sensor_msgs/PointCloud2
)PointCloud clipped from
~input/cloud
and~input/camera_info
.
Parameter¶
~not_sync
(Bool, default:False
)If
~not_sync
is true, do not need to synchronize camera info and other input topics, and pointcloud clipping is enabled.~keep_organized
(Bool, default:False
)Whether to keep output point cloud organized or not.
Sample¶
roslaunch jsk_pcl_ros sample_roi_clipper.launch