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I implemented my proposed approach from the OP and it works ok so far. As can be seen from the screenshot below, objects of interest (in this case walls of boxes behind some holes) are bright white in the thermal image while the rest of the enviroment is not. The plugin is available here (I will update this post once the package is indexed on ros.org). image description

I implemented my proposed approach from the OP and it works ok so far. As can be seen from the screenshot below, objects of interest (in this case walls of boxes behind some holes) are bright white in the thermal image while the rest of the enviroment is not. The plugin is available here (I will update this post once the package is indexed on ros.org). along with some documentation. image description