xyz_to_screenpoint.py

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.

Parameters

None.

Sample

roslaunch jsk_pcl_ros_utils sample_xyz_to_screenpoint.launch