CaptureStereoSynchronizer

What Is This

../../_images/capture_stereo_synchronizer.png

A nodelet to capture training data of stereo cameras. It subscribes several messages with synchronizing timestamp and republish them into ~output namespace.

Subscribing Topic

  • ~input/pose (geometry_msgs/PoseStamped)

    Pose of checkerboard

  • ~input/mask (sensor_msgs/Image)

    Mask image of the object

  • ~input/mask_indices (pcl_msgs/PointIndices)

    Pointcloud indices of the object

  • ~input/left_image (sensor_msgs/Image)

    Left camera image

  • ~input/left_camera_info (sensor_msgs/CameraInfo)

    Left camera parameter

  • ~input/right_camera_info (sensor_msgs/CameraInfo)

    Right camera parameter

  • ~input/disparity (stereo_msgs/DisparityImage)

    Disparity image of the stereo camera.

Publishing Topic

  • ~output/pose (geometry_msgs/PoseStamped)

  • ~output/mask (sensor_msgs/Image)

  • ~output/mask_indices (pcl_msgs/PointIndices)

  • ~output/left_image (sensor_msgs/Image)

  • ~output/left_camera_info (sensor_msgs/CameraInfo)

  • ~output/right_camera_info (sensor_msgs/CameraInfo)

  • ~output/disparity (stereo_msgs/DisparityImage)

    These topics are the same message to the ~input/foo messages but all of them are republished only if input messages are synchronized.

  • ~output/count (std_msgs/Int32)

    Number of sample.

    If ~input/pose is near from any previously stored poses, then republishing input topics will be skipped.

Parameters

  • ~rotational_bin_size (Float, default: 0.175)

    Minimum allowable rotational pose difference between new pose and all stored poses in radians.

  • ~positional_bin_size (Float, default: 0.1)

    Minimum allowable positional pose difference between new pose and all stored poses in meters.

Sample

roslaunch jsk_pcl_ros sample_capture_stereo_synchronizer.launch