What Is This

../../_images/intermittent_image_annotator.png ../../_images/intermittent_image_annotator_pointcloud_clip.png

  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).


  • ~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.


roslaunch jsk_pcl_ros sample_intermittent_image_annotator.launch