DepthImageError¶

../../_images/depth_image_error.png

Compute error of depth image and corner point of checker board.

Subscribing Topic¶

~image (sensor_msgs/Image)

Input rectified and registered depth image whose encoding is 32FC1 (i.e. metric is [m]).
~camera_info (sensor_msgs/CameraInfo)

Depth_registered camera info.
~point (geometry_msgs/PointStamped)

Corner point of checkerboard whose frame_id is the same as rgb image.

x and y field should represent (u, v) point in [pixels], while z field should represent depth in [m].

Publishing Topic¶

~output (jsk_recognition_msgs/DepthErrorResult)

Error between depth image and ~point.

Parameters¶

~approximate_sync (boolean, default: false)

Use approximate sync if it is true.

Sample¶

roslaunch jsk_pcl_ros_utils sample_depth_image_error.launch