VirtualCameraMono¶
Calculate perspective transformation from TF frame and apply it to the input image.
Subscribing Topics¶
image
(sensor_msgs/Image
)Input image.
camera_info
(sensor_msgs/CameraInfo
)Input camera info.
This topic name is resolved from
image
by image_transport.view_point
(geometry_msgs/TransformStamped
, optional)Pose of virtual camera relative to
~frame_id
.This pose is initialized from
~initial_pos
and~initial_rot
.target_polygon
(geometry_msgs/PolygonStamped
, optional)Target plane polygon.
The polygon is initialized from
[[0, 1, 0], [0, -1, 0], [0, -1, -1], [0, 1, -1]]
.
Publishing Topics¶
~image
(sensor_msgs/Image
)Output image to which perspective transformation was applied.
~camera_info
(sensor_msgs/CameraInfo
)Camera info of virtual camera.
Parameters¶
~frame_id
(String, default:/elevator_inside_panel
)Target frame ID.
~child_frame_id
(String, default:/virtual_camera_frame
)Frame ID of virtual camera used in published topics.
~queue_size
(Int, default:1
)How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.
~initial_pos
(List of Float, default:[0.7, 0.0, 0.0]
)Initial position of virtual camera relative to
~frame_id
.~initial_rot
(List of Float, default:[0.5, 0.5, -0.5, -0.5]
)Initial rotation of virtual camera relative to
~frame_id
in quaternion.~interpolation_method
(Int, default:1
)Choose from
INTER_NEAREST (0)
,INTER_LINEAR (1)
,INTER_AREA (2)
,INTER_CUBIC (3)
andINTER_LANCZOS4 (4)
.This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_perception sample_virtual_camera_mono.launch