This nodes subscribe ego's current pose(TF or Pose) and PointCloud, and publish depth image(msg::Image, 32FC1)
mkdir -p ros2_ws/src && cd ros2_ws/src
git clone [email protected]:knorrrr/range_image_creator_ros2.git
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Releaseros2 launch range_image_creator tf_base_creator_launch.pyros2 launch range_image_creator pose_base_creator_launch.pyConvert PointCloud2 to rangeImage(msg::Image).
| Name | Type | Description | Default |
|---|---|---|---|
output_image_topic |
String |
output topic | /range_image |
map_path |
String |
input pointcloud(.pcd) file | /map/pcd_0122_outward_tf.pcd |
camera_mat_path |
String |
input camera matrix(distortion, camera matrix) made by OpenCV | /params/0126_davis_manual_no_rotation.yaml |
image_width |
int |
rangeImage's Width(pixel) | 240 |
maxAngleHeight |
int |
rangeImage's maxAngleHeight(degree) | 180 |