What Is This

Colorize points based on distance from planes. This is usefull for calibration.

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input point cloud.

  • ~input_coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Input model coefficients. This topic is used only for synchronizing.

  • ~input_polygons (jsk_recognition_msgs/PolygonArray)

    Input plane.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Output colorized point cloud.


  • ~min_distance (Float, default: 0.0)

  • ~max_distance (Float, default: 0.1)

    Minimum/maximum distance of point cloud from planes.

    Minimum corresponds to blue, while maximum corresponds to red.

    These parameters can be changed by dynamic_reconfigure.

  • ~only_projectable (Bool, default: False)

    Draw points only if then can be projected inside of convex.

    This parameter can be changed by dynamic_reconfigure.


roslaunch jsk_pcl_ros_utils sample_colorize_distance_from_plane.launch