HeightmapConverter

../../_images/heightmap_converter.png

Convert a pointcloud(sensor_msgs/PointCloud2) into heightmap representation (sensor_msgs/Image).

Subscribing Topic

  • ~input (sensor_msgs/PointCloud2)

    Input pointcloud

Publishing Topic

  • ~output (sensor_msgs/Image)

    fields of the image is CV_32FC2(float). Channel0 of the image represents heightmap and Channel1 of the image represents quality/intensity/reliability of value. If a pixel is not observed, it is filled by -FLT_MAX.

  • ~output/config (jsk_recognition_msgs/HeightmapConfig)

    Config topic.

Parameters

  • ~use_projected_center (Bool, default: False)

    If true, ~fixed_frame_id, ~center_frame_id and ~projected_center_frame_id will be enabled and heightmap will be created at ~center_frame_id.

    If false, heightmap will be created at input point cloud frame.

  • ~fixed_frame_id (String, default: map)

    Parent frame ID of ~projected_center_frame_id.

  • ~center_frame_id (String, default: BODY)

    Frame ID of center of output heightmap.

  • ~projected_center_frame_id (String, default: BODY_on_map)

    Name of new frame ID used in ~output.

  • ~resolution_x (Integer, default: 400)

  • ~resolution_y (Integer, default: 400)

    Width and height of the output height map in pixels.

    These parameters can be changed by dynamic_reconfigure.

  • ~min_x (Double, default: -2.0)

  • ~max_x (Double, default: 2.0)

  • ~min_y (Double, default: -2.0)

  • ~max_y (Double, default: 2.0)

    Minimum and maximum value of heightmap dimension in meters.

    These parameters can be changed by dynamic_reconfigure.

  • ~initial_probability (Double, default: 1.0)

    Initial value to be set to Channel1 of heightmap image

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_pcl_ros sample_heightmap_converter.launch