LogPolar

../../_images/log_polar.png

What is this?

Map input image to log polar space.

This function is an imitation of central vision of human.

Subscribing Topic

  • ~input/image (sensor_msgs/Image)

    Input image.

  • ~input/camera_info (sensor_msgs/CameraInfo)

    Input camera info.

Note

The subscribing topic name is changed when you remap the one of input image, because it uses image_transport.

Publishing Topic

  • ~output/image (sensor_msgs/Image)

    Log polar space image.

  • ~output/camera_info (sensor_msgs/CameraInfo)

    Output camera info.

Parameters

  • ~inverse_log_polar (Bool, default: false)

    Whether to apply inverse mapping.

  • ~log_polar_scale (Float, default: 100.0)

    Scaling coefficient. This parameter can be changed by dynamic_reconfigure.

  • ~resize_scale_x, ~resize_scale_y (Float, default: 1.0)

    Resizing scale. This paramater can be changed by dynamic_reconfigure.

  • ~msg_par_second (Float, default: 15.0)

    Topic publishing rate [Hz]. This parameter can be changed by dynamic_reconfigure.

  • ~verbose (Bool, default: false)

    This parameter is not used.

Sample

$ roslaunch resized_image_transport sample_log_polar.launch