fisheye_ray.py

What is this?

Subscribe a 2D point of an fisheye image and publish orientation of the point in 3D space.

Subscribing Topic

• image (sensor_msgs/Image)

  Input fisheye image.

• clicked_point (geometry_msgs/PointStamped)

  Index of the pixel of image.

  Only x and y field are used for computing orientation, and z field is ignored.

• camera_info (sensor_msgs/CameraInfo)

  Not used now.

Publishing Topic

• ~output (geometry_msgs/PoseStamped)

  Orientation of clicked_point in 3D space.

• ~output_point (geometry_msgs/PointStamped)

  3D point 1m distant from ~frame_id origin, which expresses the orientation

Parameters

• ~frame_id (String, default: fisheye)

  Frame ID of published messages.

Sample

roslaunch jsk_perception sample_fisheye_ray.launch