point_cloud_color: point_cloud_color
Package for coloring point clouds using calibrated cameras.
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.
- default_color [str] Default color to be assigned to the point.
- num_cameras [int] Number of cameras to subscribe.
- max_image_age [double] Maximum image age to be used for coloring.
- use_first_valid [bool] Use first valid point projection, or best, otherwise.
- 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/scan_to_point_cloud
Topics subscribed
- scan [sensor_msgs::LaserScan] Laser scan.
Topics published
- cloud [sensor_msgs::PointCloud2] Point cloud converted from the laser scan.
Parameters
- target_frame [str] Target frame to transform point cloud to.
- wait_for_transform [double] Seconds to wait until transforms is available.
- channel_options [int] Channels to extract from laser scans.
- scan_queue [int] Scan queue size.
- point_cloud_queue [int] Point cloud queue size.
Code API