What Is This


jsk_pcl/MaskImageToDepthConsideredMaskImage extracts directed area of mask image in the order of depth from sensor_msgs/PointCloud2 and sensor_msgs/Image of mask image. Example is at jsk_pcl_ros/launch/extract_only_directed_region_of_close_mask_image.launch .

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Depth information of image. Width and height of this data must be same with ~input/image.

  • ~input/image (sensor_msgs/Image)

    Input mask image.

  • ~input/maskregion (sensor_msgs/Image)

    Input mask region.(To use interactively, use interaction_mode:grabcut_rect of image_view2.)

Publishing Topic

  • ~output (sensor_msg/Image)

    Output mask Image. Points at close range is extracted.


  • ~extract_num (Int, default: 400)

    Num of extract points in mask image.

  • ~use_mask_region (Bool, default: True)

    Whether use mask region option or not. If true, only selected region of mask image is extracted.

  • ~in_the_order_of_depth (Bool, default: True)

    Extracted points are in the order of the depth image if enabled.

  • ~approximate_sync (Bool, default: False)

    Use approximate synchronization policy instead of exact synchronization if enabled.

  • ~queue_size (Int, default: 100)

    Queue size of input topics