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

Changelog for package point_cloud_color

1.2.1 (2023-06-19)

• Added point_cloud_transport integration.
• Support MONO8 images.
• Noetic compatibility.
• Fix passing image_transport parameters
• Fixed coloring of clouds with NaNs and fix publishing color as rgba
• Compute remaining duration of waiting for transform.
• Update row step to pass asserts in debug, clip values according to types.
• Refactored for various image types, custom field name, minor speed up.
• Shortening cloud queue size option (backward compatible).
• Set default value before coloring.
• Camera warnings refactored, warning type enum.
• Refactored to handle various image types.
• OpenCV constant updated for compatibility with 20.04/Noetic.
• Initial commit.
• Contributors: Martin Pecka, Tomas Petricek