IntermittentImageAnnotator

What Is This

1. Store images when ~shutter service is called

2. Publish snapshots as one concatenated image

3. Subscribe ~output/screenrectangle to get ROI.

4. Publish ROI information to ~output namespace.

5. Publish pointcloud inside of the ROI to ~output/cloud if ~store_pointcloud is set

Subscribing Topic

• ~input/image and ~input/camera_info (sensor_msgs/Image and sensor_msgs/CameraInfo)

  Input image and camera info.

• ~input/cloud (sensor_msgs/PointCloud2)

  Input pointcloud to be clipped by specified ROI.

• ~output/screenrectangle (geometry_msgs/PolygonStamped)

  ROI. We expect to use image_view2.

Publishing Topic

• ~output (sensor_msgs/Image)

  Snapshots as one concatenated image.

• ~output/direction (geometry_msgs/PoseStamped)

  Direction of ROI as PoseStamped. z-axis directs the center of ROI.

• ~output/roi (jsk_recognition_msgs/PosedCameraInfo)

  Publish ROI of specified region as PosedCameraInfo.

• ~output/cloud (sensor_msgs/PointCloud2)

  Pointcloud inside of ROI. pointcloud is stored when ~shutter service is called and its timestamp will be updated according to the latest image.

• ~output/marker (visualization_msgs/Marker)

  Marker to visualize ROI (~output/roi).

Parameters

• ~fixed_frame_id (String, default: odom)

  Fixed frame id to resolve tf.

• ~max_image_buffer (Integer, default: 5)

  The maximum number of images to store in this nodelet.

• ~rate (Float, default: 1.0)

  Publishing rate of concatenated images in [Hz].

• ~store_pointcloud (Boolean, default: false)

  Store pointcloud if it’s true

• ~keep_organized (Boolean, default: false)

  Keep pointcloud organized after clipping by specified ROI.

Advertising Service

• ~shutter (std_srvs/Empty)

  Take a snapshot

• ~clear (std_srvs/Empty)

  Clear images stored in the nodelet.

• ~request (std_srvs/Empty)

  Request publishing concatenated image to ~output.

Sample

roslaunch jsk_pcl_ros sample_intermittent_image_annotator.launch