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heightmap_to_point_cloud.md

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HeightmapToPointCloud

Convert a heightmap to pointcloud.

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input heightmap.

    Encoding should be 32FC2.

  • ~input/config (jsk_recognition_msgs/HeightmapConfig)

    Config topic.

Publishing Topic

  • ~output (sensor_msgs/PointCloud2)

    Output pointcloud.

  • ~output/config (jsk_recognition_msgs/HeightmapConfig)

    Config topic.

Parameters

  • ~keep_organized (Bool, default: False)

    Whether to keep pointcloud organized or not.

Sample

roslaunch jsk_pcl_ros sample_heightmap_to_pointcloud.launch