What Is This

Convert (x, y, z) 3-D coordinate to (u, v) coordinate on a image using camerainfo of sensor.

Subscribing Topic

  • ~input (geometry_msgs/PointStamped)

    Input point to represent (x, y, z) 3-D coordinate.

  • ~input/camera_info (sensor_msgs/CameraInfo)

    CameraInfo of sensor.

Publishing Topic

  • ~output (geometry_msgs/PointStamped)

    Output point to represent (u, v) image coordinate. Only x and y fileds are used. The header frame_id uses the information of ~input/camera_info.




roslaunch jsk_pcl_ros_utils sample_xyz_to_screenpoint.launch