PointCloudToMaskImage

![pointcloud_to_mask_image](https://user-images.githubusercontent.com/1901008/34367264-aaa28e1e-eaeb-11e7-8699-c5e17dec71e8.gif)

What is this?

Convert point cloud to mask image with following rules:

  1. NaN region of PointXYZ will be black (0).

  2. Other region will be white (255).

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud

    • ~input/depth (sensor_msgs/Image)

    Input depth image

Publishing Topic

  • ~output (sensor_msgs/Image)

    Output mask image.

Parameters

  • ~z_near (Double, default: 0.0)

    Lower limit of depth to be projected to mask image for each pixel (meter)

  • ~z_far~ (`Double, default: 10.0)

    Upper limit of depth to be projected to mask image for each pixel (meter)