ROS中的depth image转换到laser scan的包_ros depth-laserscan-程序员宅基地

技术标签： ROS indigo

Overview / Example Scene

RGB

Here is the scene in which the following screenshots were captured.

DepthImage

Note the sensor_msgs/LaserScan overlayed in color on the sensor_msgs/Image. Red is close to camera, purple is far from camera.

LaserScan

sensor_msgs/LaserScan projected on top of the sensor_msgs/PointCloud2.

Top Down LaserScan

Top down view of the sensor_msgs/LaserScan.

Node

depthimage_to_laserscan

depthimage_to_laserscan takes a depth image (float encoded meters or preferably uint16 encoded millimeters for OpenNI devices) and generates a 2D laser scan based on the provided parameters. depthimage_to_laserscan uses lazy subscribing and will not subscribe to image or camera_info until there is a subscriber for scan .

Subscribed Topics

image ( sensor_msgs/Image )

The input image that must conform to REP 118. This can be floating point or raw uint16 format. For OpenNI devices, uint16 is the native representation and will be more efficient for processing. This is typically/camera/depth/image_raw. If your image is distorted, this topic should be remapped to image_rect. OpenNI cameras typically have little distortion and rectification can be skipped for this application.

camera_info ( sensor_msgs/CameraInfo )

Camera info for the associated image. Does not usually need to be remampped as camera_info will be subscribed to from the same namespace as image.

Published Topics

scan ( sensor_msgs/LaserScan )

The output laser scan. Follows REP 117, and will output range arrays that contain NaNs and +-Infs.

Parameters

~scan_height ( int , default: 1 pixel)

The number of pixels rows to use to generate the laserscan. For each column, the scan will return the minimum value for those pixels centered vertically in the image.

~scan_time ( double , default: 1/30.0Hz (0.033s))

Time between scans (seconds). Typically, 1.0/frame_rate. This value is not easily calculated from consquetive messages, and is thus left to the user to set correctly.

~range_min ( double , default: 0.45m)

The minimum ranges to return in meters. Ranges less than this will be output as -Inf.

~range_max ( double , default: 10.0m)

The maximum ranges to return in meters. Ranges greater than this will be output as +Inf.

~output_frame_id ( str , default: camera_depth_frame)

The frame id of the laser scan. For point clouds coming from an "optical" frame with Z forward, this value should be set to the corresponding frame with X forward and Z up.

Nodelet

Same usage as the Node.

Available as:

depthimage_to_laserscan/DepthImageToLaserScanNodelet

ROS WIKI

本文链接：https://blog.csdn.net/RedskyDeng/article/details/49385511

原作者删帖不实内容删帖广告或垃圾文章投诉

智能推荐

AndroidStudio无代码高亮解决办法_android studio 高亮-程序员宅基地

文章浏览阅读2.8k次。AndroidStudio 升级到 4.2.2 版本后，没有代码高亮了，很蛋疼。解决办法是：点开上方的 File，先勾选 Power Save Mode 再取消就可以了。_android studio 高亮

swift4.0 valueForUndefinedKey:]: this class is not key value coding-compliant for the key unity.'_forundefinedkey swift4-程序员宅基地

文章浏览阅读1k次。使用swift4.0整合Unity出现[ valueForUndefinedKey:]: this class is not key value coding-compliant for the key unity.'在对应属性前加@objc 即可。或者调回swift3.2版本_forundefinedkey swift4

Spring Security2的COOKIE的保存时间设置_springsecurity 设置cookie失效时间-程序员宅基地

文章浏览阅读1.3k次。http auto-config="true" access-denied-page="/common/403.htm"> intercept-url pattern="/login.**" access="IS_AUTHENTICATED_ANONYMOUSLY"/> form-login login-page="/login.jsp" defau_springsecurity 设置cookie失效时间

view滑动冲突解决实战篇2（外部拦截法）_viewpage2外部拦截事件-程序员宅基地

文章浏览阅读1.1k次。继上篇内部拦截法需求还是跟上篇一样。只不过这次用外部拦截法来解决；只要在父容器添加如下代码就可以解决了滑动冲突，很简单，套模板就行 // 分别记录上次滑动的坐标(onInterceptTouchEvent) private int mLastXIntercept = 0; private int mLastYIntercept = 0; @Override public bo_viewpage2外部拦截事件

汇编堆栈变量存储指针_汇编语言栈指针-程序员宅基地

文章浏览阅读2.5k次，点赞7次，收藏9次。本文章系作者原创，未经许可，不得转载。汇编堆栈变量存储指针先说栈的概念，栈其实也是一种。。。。。先说内存的概念吧。。。。。额先说计算机吧，简单来说的话，可以把计算机理解成由CPU，内存，硬盘组成，而CPU内部又包括一种叫做内部寄存器的东西，包括数据寄存器： AX,BX,CX,DX；段寄存器： CS,DS,ES,SS；指针与变址寄存器SP,BP,SI,DI； ..._汇编语言栈指针

架构师之路：从码农到架构师你差了哪些_web架构师-程序员宅基地

文章浏览阅读1w次，点赞14次，收藏56次。转载自架构师之路：从码农到架构师你差了哪些 Web应用，最常见的研发语言是Java和PHP。后端服务，最常见的研发语言是Java和C/C++。大数据，最常见的研发语言是Java和Python。可以说，Java是现阶段中国互联网公司中，覆盖度最广的研发语言，掌握了Java技术体系，不管在成熟的大公司，快速发展的公司，还是创业阶段的公司，都能有立足之地。有..._web架构师