About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Overview

texture_light_on_off processes data from a stereo camera (with textured light). It is currently used with the rf_detector package.

Nodes

texture_light_on_off

texture_light_on_off processes the sensor data from a narrow-stereo camera to collect images when textured light is off and stereo-point clouds when texture light is on.

Published Topics

t_on_off/image (sensor_msgs/Image)

• The narrow stereo image when the texture light is off.

t_on_off/dense_cloud (sensor_msgs/PointCloud)

• The narrow stereo point cloud when the texture light is on.

t_on_off/sparse_cloud (sensor_msgs/PointCloud)

• The narrow stereo point cloud when the texture light is on.

t_on_off/caminfo (sensor_msgs/CameraInfo)

• The narrow stereo camera info.

There is a launch file "t_on_off.launch" to start the process. And the parameters in the launch file are explained below:

• image_sequence -- How many frames that the node will wait for the status of the camera to be stable (when the texture light is either on or off)?
• off_exposure -- The exposure of the camera when texture light is off.
• on_exposure -- The exposure of the camera when texture light is on.