MaskImageToDepthConsideredMaskImage¶
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.
Parameter¶
~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