omnicamera: Ladybug 3 omnicamera driver.
Nodes, classes, services and messages to support Ladybug 3 omnicamera.
The omnicamera package provides basic functionality for processing image captured from Ladybug 3 camera.
Launch files
The main launch file (which includes many others) to start Ladybug capturing:
roslaunch omnicamera omnicamera_nodelet_manager.launch
Nodelets
omnicamera/ladybug_pano
A nodelet stiching panorama from Ladybug 3 composite image. It uses pre-generated look-up tables---these must be provided for it to work.
Subscribed topics
- in [sensor_msgs/Image] Ladybug 3 composite image.
Published topics
- out [sensor_msgs/Image] Stitched panorama image.
Parameters
- out_width [int] Width of panorama.
- out_height [int] Height of panorama.
- omnicam_frame_id [str] Omnicamera frame ID.
- pan [double] Pan of the panorama w.r.t. to omnicam frame, in degrees.
- frame_id [str] Panorama frame ID.
- alpha [bool] Use alpha blending? (May not be used.)
- radius [double] Distance of projected points.
- lut_format [str] Path format of look-up tables.
omnicamera/panolut_virtual_camera
A nodelet rendering view from a virtual pan-tilt-zoom (PTZ) camera.
Subscribed topics
- in [sensor_msgs/Image] Ladybug 3 composite image.
- config [omnicamera_msgs/VirtualCameraConfig] Virtual camera config.
Published topics
- out [sensor_msgs/Image] Rendered image from virtual PTZ camera.
- camera_info [sensor_msgs/CameraInfo] Camera info of the PTZ camera.
Advertised services
- get_config [omnicamera_msgs/VirtualCameraConfig]
Parameters
- pano_width [int] Width of the panorama image used.
- pano_height [int] Height of the panorama image used.
- alpha [bool] Use alpha blending? (May not be used.)
- radius [double] Distance of projected points.
- lut_format [str] Path format of look-up tables.
- frame_id [str] PTZ camera frame ID.
- parent_frame_id [str] Parent frame ID.
- equalize_hist [bool] Equalize histogram of the PTZ image?
- viewport_width [int] Viewport vidth.
- viewport_height [int] Viewport height.
- pan [double] Pan of the camera w.r.t. parent frame, in degrees.
- tilt [double] Tilt of the camera w.r.t parent frame, in degrees.
- horizontal_fov [double] Horizontal field of view, in degrees.
- vertical_fov [double] Vertical field of view, in degrees.
omnicamera/omnicam_whitebalance
A nodelet using a reference gray region to white-balance during capturing. It sets color correction inside the camera based on a measurement in a reference gray region.
Subscribed topics
- in [sensor_msgs/Image] Ladybug 3 composite image.
Parameters
- vertical_startposition [double] Relative vertical start position of a gray region.
- vertical_endposition [double] Relative vertical end position of a gray region.
- horizontal_startposition [double] Relative horizontal start position of a gray region.
- horizontal_endposition [double] Relative horizontal end position of a gray region.
- wait_images [int] The number of images the nodelet waits before changing parameters.
- cor_blue [double] Blue correction factor of the reference area, for perfect gray both should be 1.
- cor_red [double] Red correction factor of the reference area, for perfect gray both should be 1.
Code API
