ProjectImagePoint¶

../../_images/project_image_point.png

Convert image local coordinates (represented as geomery_msgs/PointStamped) into 3-D point. Z value of the point is specified via dyanmci_reconfigure API.

Subscribing Topic¶

~input (geometry_msgs/PointStamped)

Input point in image local coordinates.
~input/camera_info (sensor_msgs/CameraInfo)

Camera parameter of the original image.

Publishing Topic¶

~output (geometry_msgs/PointStamped)

Output point and the value is scaled to satisfy specified z value.
~output/ray (geometry_msgs/Vector3Stamped)

3-D ray vector of the point of image local coordinates.

Parameters¶

~z (Double, default: 2.0)

Z value of projected point.

Sample¶

roslaunch jsk_perception sample_project_image_point.launch