Compute error of depth image and corner point of checker board.

Subscribing Topic

  • ~image (sensor_msgs/Image)

    Input rectified and registered depth image whose encoding is 32FC1 (i.e. metric is [m]).

  • ~camera_info (sensor_msgs/CameraInfo)

    Depth_registered camera info.

  • ~point (geometry_msgs/PointStamped)

    Corner point of checkerboard whose frame_id is the same as rgb image.

    x and y field should represent (u, v) point in [pixels], while z field should represent depth in [m].

Publishing Topic

  • ~output (jsk_recognition_msgs/DepthErrorResult)

    Error between depth image and ~point.


  • ~approximate_sync (boolean, default: false)

    Use approximate sync if it is true.


roslaunch jsk_pcl_ros_utils sample_depth_image_error.launch