point_cloud_color

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point_cloud_color

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Package for coloring point clouds using calibrated cameras.

point_cloud_color 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

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# point_cloud_color
 
Package point_cloud_color provides a nodelet for coloring point clouds using calibrated cameras.

## Nodelets

## point_cloud_color/point_cloud_color

### Topics subscribed
- `cloud_in` (`sensor_msgs::PointCloud2`) Input point cloud.
- `camera_0/image` (`sensor_msgs::Image`) Subscribed cameras images.
- ..., `camera_<num_cameras - 1>/image`
- `camera_0/camera_info` (`sensor_msgs::CameraInfo`) Subscribed camera calibration messages.
- ..., `camera_<num_cameras - 1>/camera`

### Topics published
- `cloud_out` (`sensor_msgs::PointCloud2`) Colored point cloud, with field rgb.

### Parameters
- `fixed_frame` (`str`) Fixed frame to use when transforming point clouds to camera frame.
- `field_name` (`str`) Cloud field name with color.
- `field_type` (`str`) Cloud field type (from `sensor_msgs/PointField`), must match the images.
- `default_color` (`str`) Default color to be assigned to the point.
- `num_cameras` (`int`) Number of cameras to subscribe.
- `synchronize` (`bool`) Whether to synchronize images with camera infos.
- `max_image_age` (`double`) Maximum image age to be used for coloring.
- `max_cloud_age` (`double`) Maximum cloud age to use in coloring.
- `use_first_valid` (`bool`) Use first valid point projection, or best, otherwise.
- `min_depth` (`double`) Minimum point depth to project.
- `image_queue_size` (`int`) Image queue size.
- `point_cloud_queue_size` (`int`) Point cloud queue size.
- `wait_for_transform` (`double`) Duration for waiting for the transform to become available.
- `camera_0/mask` (`str`) Static camera mask, zero elements denote pixels not to use in coloring.
- ..., `camera_<num_cameras - 1>/mask`

point_cloud_color

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