RectToROI¶

../../_images/rect_to_roi.png

Convert 2D rectangle (geometry_msgs/Polygon), whose position and size are represented in [pixel], into camera info with ROI (sensor_msgs/CameraInfo).

We expect it will be used with image_view2.

Subscribing Topic¶

~input (geometry_msgs/PolygonStamped)

Polygon to represent rectangle region of image.
~input/camera_info (sensor_msgs/CameraInfo)

Original camera info.

Publishing Topic¶

~output (sensor_msgs/CameraInfo)

camera info with ROI filled by ~input.

Sample¶

roslaunch jsk_perception sample_rect_to_roi.launch