fisheye_ray.py¶
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
andy
field are used for computing orientation, andz
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
Parameters¶
~frame_id
(String, default:fisheye
)Frame ID of published messages.
Sample¶
roslaunch jsk_perception sample_fisheye_ray.launch