virtual_camera_mono

../../_images/virtual_camera_mono.png

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.

  • ~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) and INTER_LANCZOS4 (4).

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_perception sample_virtual_camera_mono.launch