BorderEstimator

../../_images/border_estimator.png

Convert pointcloud into range image and detect border

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud

  • ~input_camera_info (sensor_msgs/CameraInfo)

    Camera info is used to reconstruct organized range image when ~model_type is planar

Publishing Topic

  • ~output_cloud (sensor_msgs/PointCloud)

    Pointcloud converted as range image. If ~model_type is planar, it should be equal to original organized pointcloud, When ~model_type is laser, original pointcloud and ~output_cloud is not same.

  • ~output_border_indices (pcl_msgs/PointIndices)

    Indices of border

  • ~output_veil_indices (pcl_msgs/PointIndices)

    Indices of veil points

  • ~output_shadow_indices (pcl_msgs/PointIndices)

    Indices of shadow edge

  • ourput_range_image (sensor_msgs/Image)

    Range image

Parameters

  • ~model_type (String, default: planar)

    Choose model type of range image by this topic. planar, laser or sphere is allowed.

  • ~angular_resolution (Double, default: 0.5)

    Angular resolution of range image. Only does laser model use this parameter.

  • ~noise_level (Double, default: 0.1)

    Noise level of pointcloud. Only does laser model use this parameter.

  • ~min_range (Double, default: 0.0)

    Minimam distance to take into account range image. Only does laser model use this parameter.

  • ~border_size (Integer, default: 0)

    Border size to remove from range image.

  • ~max_angle_height (Double, default: 2pi)

    Maximum angle height of range image. Only does laser model use this parameter.

  • ~max_angle_width (Double, default: 2pi)

    Maximum angle width of range image. Only does laser model use this parameter.

Sample

roslaunch jsk_pcl_ros sample_border_estimator.launch