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Note: Full, up-to date documentation is in the project's README.md on GitHub.

ROS API

basler_tof_node

Published Topics

confidence/image_raw (sensor_msgs/Image)

• The confidence image (each pixel represents the confidence in the depth value). This mainly seems to be the same as the intensity image, but with too bright / dark pixels beyond a certain threshold replaced by NaN values.

confidence/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

depth/image_raw (sensor_msgs/Image)

• The depth image.

depth/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

intensity/image_raw (sensor_msgs/Image)

• The intensity image.

intensity/camera_info (sensor_msgs/CameraInfo)

• The corresponding camera info (calibration values).

points (sensor_msgs/PointCloud2)

• Point cloud, directly from the device driver. Has intensities, but cannot be user-calibrated.

depth/points (sensor_msgs/PointCloud2)

• Point cloud computed from the depth/image_raw and depth/camera_info topic. No intensities, but takes into account user calibration. This topic is not directly published by the node, but by the depth_image_proc/point_cloud_xyz nodelet in the launch file.

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~frame_rate (int, default: 15)

• Acquisition rate at which the frames are captured. [Hz] Range: 1 to 15

~exposure_auto (bool, default: True)

• Enable automatic exposure mode.

~exposure_time (int, default: 15000)

• Exposure time when exposure_auto = false Range: 300 to 30000

~exposure_agility (double, default: 0.4)

• Reaction speed of the continuous exposure mechanism when exposure_auto = true. Range: 0.1 to 1.0

~exposure_delay (int, default: 2)

• The number of frames it takes until the continuous exposure mechanism reacts to a change in the exposure time when exposure_auto = true. Range: 1 to 10

~confidence_threshold (int, default: 2048)

• Pixels have to exceed the confidence value specified here in order to be taken into account for the distance measurement Range: 0 to 65536

~spatial_filter (bool, default: True)

• Enable the spatial noise filter (uses the values of neighboring pixels to filter out noise in an image).

~temporal_filter (bool, default: True)

• Enable the temporal noise filter (uses the values of the same pixel atdifferent points in time to filter out noise in an image).

~temporal_strength (int, default: 190)

• Strength of the temporal filter. The higher the value, the further back the memory of the filter reaches. High values can cause motion artifacts, while low values reduce the efficacy of the filter. Range: 50 to 240

~outlier_tolerance (int, default: 2000)

• Maximum distance that a pixel's depth is allowed to differ from that of its neighboring pixels. Range: 0 to 65535

Not Dynamically Reconfigurable Parameters

~frame_id (string, default: "camera_optical_frame")

• The frame id used in the sensor messages.

~camera_info_url (string, default: None)

• An URL pointing to a camera info yaml in camera_info_manager format.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]