Hole fusion

Interfaces

#define WMCW "which must comply with"

Listens to:

• hole_fusion_node_topics::subscribed_topics/depth_candidate_holes_topic WMCW depth_node_topics::published_topics/candidate_holes_topic.
• hole_fusion_node_topics::subscribed_topics/rgb_candidate_holes_topic WMCW rgb_node_topics::published_topics/candidate_holes_topic.
• hole_fusion_node_topics::subscribed_topics/point_cloud_internal_topic WMCW synchronizer_node_topics::published_topics/point_cloud_internal_topic.

Output topics:

• hole_fusion_node_topics::published_topics/synchronizer_unlock_topic WMCW synchronizer_node_topics::subscribed_topics/unlock_topic
• hole_fusion_node_topics::published_topics/make_sunchronizer_subscribed_input WMCW synchronizer_node_topics::subscribed_topics/subscribe_to_input : Used for transition from invalid to valid states.
• hole_fusion_node_topics::published_topics/make_sunchronizer_leave_subscription_to_input WMCW synchronizer_node_topics::subscribed_topics/leave_subscription_to_input : Used for transition from valid to invalid states.
• hole_fusion_node_topics::published_topics/hole_detector_output_topic: Valid holes are published to Alert handler
• hole_fusion_node_topics::published_topics/enhanced_holes_topic: Valid holes with extra information are published to Victim node
• hole_fusion_node_topics::published_topics/debug_valid_holes_image: For debug purposes. Used as such:
• rosrun image_view image_view image:=$NAMESPACE/hole_detector/debug_valid_holes_image _image_transport:=compressed.
• $NAMESPACE=pandora_vision for standalone and $NAMESPACE=vision for robot mode.