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:
- NaN region of PointXYZ will be black (0).
- 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)