image_publisher.py¶
Publish image from loaded file.
Publishing Topics¶
~output
(sensor_msgs/Image
)~output/compressed
(sensor_msgs/CompressedImage
)Compressed Image.
~output/compressedDepth
(sensor_msgs/CompressedImage
)Compressed Depth Image. This is valid when encoding is
32FC1
.~output/camera_info
(sensor_msgs/CameraInfo
)
Parameters¶
~file_name
(str default:image.png
)full path to the file to be loaded
~publish_info
(bool default:True
)publish
~output/camera_info
if true~encoding
(str default:bgr8
)~frame_id
(str default:camera
)~rate
(Float default:1.0
)~fovx
(Float default:None
)~fovy
(Float default:None
)If
~publish_info
isTrue
and~fovx
[degree] and~fovy
[degree] are specified, calculate camera intrinsic parameter and publish it as a values of~output/camera_info
.
Sample¶
roslaunch jsk_perception sample_image_publisher.launch