tile_image.py

What is this?

../../../../_images/tile_image1.png

Publish an image topic by tiling image topics specified.

Subscribing Topic

The subscribing topics should be specified with rosparam. See Parameters.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Tiled image.

Parameters

  • input_topics (type: StringArray, required)

    input topic names should be specified like:

    <node name="tile_image" pkg="jsk_perception" type="tile_image.py" output="screen">
      <rosparam>
        input_topics: [img1/output, img2/output, img3/output, img4/output]
      </rosparam>
    </node>
    
  • no_sync (type: Bool, default: False)

    set no_sync parameter true if you do not want to synchronize timestamps of input_topics

  • draw_topic_name (type: Bool, default: False)

    Draw topic name on each image.

  • font_scale (type: Float, default: 0.8)

    Font size to draw topic names.

  • shape (type: FloatArray, default: None)

    Tile shape like [2, 4] in [Y, X] order. If None, shape is automatically decided to be square as much as possible.

CLI

rosrun jsk_perception tile_image.py _input_topics:='[img1/output, img2/output]'

Sample

roslaunch jsk_perception tile_image.launch