tile_image.py

What is this?

../../_images/tile_image.png

Publish an image topic by tiling image topics specified.

Subscribing Topic

The subscribing topics should be specified with rosparam. See Parameters.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Tiled image.

Parameters

  • input_topics (type: StringArray, required)

    input topic names should be specified like:

    <node name="tile_image" pkg="jsk_perception" type="tile_image.py" output="screen">
  <rosparam>
    input_topics: [img1/output, img2/output, img3/output, img4/output]
  </rosparam>
</node>

  • no_sync (type: Bool, default: False)

    set no_sync parameter true if you do not want to synchronize timestamps of input_topics

  • queue_size (type: Int, default: 10)

    The queue size for message_filters.TimeSynchronizer or message_filters.ApproximateTimeSynchronizer.

  • slop (type: Float, default: 1.0)

    The slop time in second for message_filters.ApproximateTimeSynchronizer.

  • draw_topic_name (type: Bool, default: False)

    Draw topic name on each image.

  • font_scale (type: Float, default: 0.8)

    Font size to draw topic names.

  • shape (type: FloatArray, default: None)

    Tile shape like [2, 4] in [Y, X] order. If None, shape is automatically decided to be square as much as possible.

CLI

rosrun jsk_perception tile_image.py _input_topics:='[img1/output, img2/output]'

Sample

roslaunch jsk_perception tile_image.launch