It retrives sensor_msgs/Image
and sensor_msgs/CameraInfo
and publish sensor_msgs/Image
of ROI.
It is similar to image_proc/crop_decimate
but you can use CameraInfo/roi
field to specify ROI.
We expect to use jsk_pcl/ROIClipper with jsk_pcl/AttentionClipper to get ROI image.
-
~input/image
(sensor_msgs/Image
)Input image.
-
~input/camera_info
(sensor_msgs/CameraInfo
)Camera parameter and ROI field should be filled.
These two topic should be synchronized if
~not_sync
is not false. -
~input/cloud
(sensor_msgs/PointCloud2
)This topic is only enabled if
~not_sync
is true.
-
~output
(sensor_msgs/Image
)Image of ROI.
-
~output/cloud_indices
(pcl_msgs/PointIndices
)The indices of the pointcloud which is inside of the interest 3-D region.
-
~output/cloud
(sensor_msgs/PointCloud2
)PointCloud clipped from
~input/cloud
and~input/camera_info
.
-
~not_sync
(Bool, default:False
)If ~not_sync is true, do not need to synchronize camera info and other input topics, and pointcloud clipping is enabled.