virtual_camera: virtual_camera
The package contains a nodelet rendering virtual views from calibrated
ROS cameras. It supports multiple camera models .and synchronization of
camera feeds.
virtual_camera provides a nodelet rendering virtual views from calibrated ROS cameras. It supports multiple camera models and synchronization of camera feeds.
Nodelets
Topics published
- virtual_camera/image [sensor_msgs::Image] Rendered view.
Parameters
- fixed_frame [str] Fixed frame to use when transforming point clouds to camera frame.
- default_color [str] Default color to be assigned to the point.
- num_cameras [int] Number of cameras to subscribe.
- max_image_age [double] Maximum image age to be used for coloring.
- use_first_valid [bool] Use first valid point projection, or best, otherwise.
- image_queue_size [int] Image queue size.
- point_cloud_queue_size [int] Point cloud queue size.
- wait_for_transform [double] Duration for waiting for the transform to become available.
- camera_0/mask [str] Static camera mask, zero elements denote pixels not to use in coloring.
- ..., camera_<num_cameras - 1>/mask
- name [str] Namespace for image topic.
- approxDistance [double] Approximate distance of points from camera origin.
- viewportWidth [int] Viewport width.
- viewportHeight [int] Viewport height.
- parentFrameId [str] Parent frame ID.
- posX [double] Virtual camera frame x-offset.
- posY [double] Virtual camera frame y-offset.
- posZ [double] Virtual camera frame z-offset.
- pan [double] Pan in degrees.
- tilt [double] Tilt in degrees.
- horizontalFov [double] Horizontal field of view.
- verticalFov [double] Vertical field of view.
- encoding [str] Image encoding.
- frameRate [double] Frame rate.
- model [str] Camera model (pinhole/cylindric/spherical).
- synchronize [bool] Synchronize input cameras?
- realCameraTopic1 [str] Input camera namespace 1.
- ...
- realCameraTopic6 [str] Input camera namespace 6.
- realCameraFrame1 [str] Input camera frame 1.
- ...
- realCameraFrame6 [str] Input camera frame 6.
Code API
