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| ## repository: https://code.ros.org/svn/ros-pkg | |
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{{attachment:image_rotate.jpg}} |
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| == Example Use == To produce a version of the forearm camera view that always points up: {{{ rosrun image_rotate image_rotate image:=l_forearm_cam/image_color \ rotated/image:=l_forearm_cam/image_color_rotated __name:=image_rotater }}} You can then view it with `image_view`. {{{ rosrun image_view image_view image:=l_forearm_cam/image_color_rotated }}} It is easy to adjust the settings using `dynamic_reconfigure`. {{{ rosrun dynamic_reconfigure reconfigure_gui image_rotater }}} |
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| {{{ #!clearsilver CS/NodeAPI node.0 { name=image_rotate desc=`image_rotate` is a node to rotate an image for visualization. The node takes a source vector and a target vector, and projects them onto the camera image. It then rotates the image by the angle neded to align the projection of the source vector with the projection of the target vector. The source and target vectors are specified in arbitrary TF frames allowing the rotation angle to vary dynamically as frames move relative to one another. With the default settings, the image will be rotated so that the top of the image matches the up direction the `base_link`. sub{ 0.name= image 0.type= sensor_msgs/Image 0.desc= Image to be rotated (the accompanying camera_info may also be subscribed to). } pub{ 1.name= rotated/image 1.type= sensor_msgs/Image 1.desc= Rotated image } |
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| 0.desc=Frame in which the target vector is specified. Empty means the image frame. | 0.desc=Frame in which the target vector is specified. Empty means the input frame. |
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| 4.name= ~reference_frame_id | 4.name= ~source_frame_id |
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| 4.desc=Frame in which the reference vector is specified. Empty means the image frame. 5.name= ~reference_x |
4.desc=Frame in which the source vector is specified. Empty means the input frame. 5.name= ~source_x |
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| 6.name= ~reference_y | 6.name= ~source_y |
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| 7.name= ~reference_z | 7.name= ~source_z |
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| 8.desc=Frame to publish for the image's new orientation. Empty means add '_rotated' suffix. 9.name= ~max_angular_rate 9.default= 10.0 9.type= double 9.desc=Limits the rate at which the image can rotate (rad/s). Zero means no limit. Range: 0.0 to 100.0 |
8.desc=Frame to publish for the image's new orientation. Empty means add '_rotated' suffix to the image frame. 9.name= ~input_frame_id 9.default= 9.type= str 9.desc=Frame to use for the original camera image. Empty means that the frame in the image or camera_info should be used depending on use_camera_info. 10.name= ~use_camera_info 10.default= True 10.type= bool 10.desc=Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used. 11.name= ~max_angular_rate 11.default= 10.0 11.type= double 11.desc=Limits the rate at which the image can rotate (rad/s). Zero means no limit. Range: 0.0 to 100.0 12.name= ~output_image_size 12.default= 2.0 12.type= double 12.desc=Size of the output image as a function of the input image size. Can be varied continuously between the following special settings: 0 ensures no black ever appears, 1 is small image dimension, 2 is large image dimension, 3 is image diagonal. Range: 0.0 to 3.0 |
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| }}} |
Show EOL distros:
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Author: Blaise Gassend
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/tags/image_pipeline-1.4.2
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Author: Blaise Gassend
- License: BSD
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/image_pipeline/tags/image_pipeline-1.6.4
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: fuerte-devel)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: groovy-devel)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: hydro-devel)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: indigo)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: developed
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>, Steven Macenski <stevenmacenski AT gmail DOT com>, Autonomoustuff team <software AT autonomoustuff DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: melodic)
Package Summary
Contains a node that rotates an image stream in a way that minimizes the angle between a vector in some arbitrary frame and a vector in the camera frame. The frame of the outgoing image is published by the node.
This node is intended to allow camera images to be visualized in an orientation that is more intuitive than the hardware-constrained orientation of the physical camera. This is particularly helpful, for example, to show images from the PR2's forearm cameras with a consistent up direction, despite the fact that the forearms need to rotate in arbitrary ways during manipulation.
It is not recommended to use the output from this node for further computation, as it interpolates the source image, introduces black borders, and does not output a camera_info.
- Maintainer status: maintained
- Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>, Autonomoustuff team <software AT autonomoustuff DOT com>
- Author: Blaise Gassend
- License: BSD
- Source: git https://github.com/ros-perception/image_pipeline.git (branch: noetic)
Example Use
To produce a version of the forearm camera view that always points up:
rosrun image_rotate image_rotate image:=l_forearm_cam/image_color \ rotated/image:=l_forearm_cam/image_color_rotated __name:=image_rotater
You can then view it with image_view.
rosrun image_view image_view image:=l_forearm_cam/image_color_rotated
It is easy to adjust the settings using dynamic_reconfigure.
rosrun dynamic_reconfigure reconfigure_gui image_rotater
ROS API
image_rotate
image_rotate is a node to rotate an image for visualization. The node takes a source vector and a target vector, and projects them onto the camera image. It then rotates the image by the angle neded to align the projection of the source vector with the projection of the target vector. The source and target vectors are specified in arbitrary TF frames allowing the rotation angle to vary dynamically as frames move relative to one another. With the default settings, the image will be rotated so that the top of the image matches the up direction the base_link.Subscribed Topics
image (sensor_msgs/Image)- Image to be rotated (the accompanying camera_info may also be subscribed to).
Published Topics
rotated/image (sensor_msgs/Image)- Rotated image
Parameters
Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.- Frame in which the target vector is specified. Empty means the input frame.
- X coordinate of the target vector Range: -10.0 to 10.0
- Y coordinate of the target vector Range: -10.0 to 10.0
- Z coordinate of the target vector Range: -10.0 to 10.0
- Frame in which the source vector is specified. Empty means the input frame.
- X coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0
- Y coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0
- Z coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0
- Frame to publish for the image's new orientation. Empty means add '_rotated' suffix to the image frame.
- Frame to use for the original camera image. Empty means that the frame in the image or camera_info should be used depending on use_camera_info.
- Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- Limits the rate at which the image can rotate (rad/s). Zero means no limit. Range: 0.0 to 100.0
- Size of the output image as a function of the input image size. Can be varied continuously between the following special settings: 0 ensures no black ever appears, 1 is small image dimension, 2 is large image dimension, 3 is image diagonal. Range: 0.0 to 3.0
