ColorizeDistanceFromPlane¶
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.
Parameters¶
~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
.
Sample¶
roslaunch jsk_pcl_ros_utils sample_colorize_distance_from_plane.launch