What is this?


Subscribe a 2D point of an fisheye image and publish orientation of the point in 3D space.

Subscribing Topic

  • image (sensor_msgs/Image)

    Input fisheye image.

  • clicked_point (geometry_msgs/PointStamped)

    Index of the pixel of image.

    Only x and y field are used for computing orientation, and z field is ignored.

  • camera_info (sensor_msgs/CameraInfo)

    Not used now.

Publishing Topic

  • ~output (geometry_msgs/PoseStamped)

    Orientation of clicked_point in 3D space.

  • ~output_point (geometry_msgs/PointStamped)

    3D point 1m distant from ~frame_id origin, which expresses the orientation


  • ~frame_id (String, default: fisheye)

    Frame ID of published messages.


roslaunch jsk_perception sample_fisheye_ray.launch