FisheyeToPanorama

../../_images/fisheye_to_panorama.png

This nodelet will publish Rectified or Panoramized Fisheye Image.

We recommend you to set scale factor as small as possible to reduce calculation.

This was tested with Prosilica GC2450C and NM30 lens.

Below pictures show image rectification system.

../../_images/fisheye_readme.png

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input image.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Rectified or Panoramized Image

  • ~output_bilinear (sensor_msgs/Image)

    When ~use_panorama and ~simple_panorama are true, publish Panoramized Image

Parameters

  • ~use_panorama (Bool, default: false)

    If true => publish Panorama View Image

    If false => publish Rectified View Image

  • ~simple_panorama (Bool, default: false)

    This is effective only when ~use_panorama is true

    If true => show Simple Panorama View

    If false => show Calculated Panorama View

  • ~degree (Float, default: 60.0)

    Field of view of output image.

    This parameter can be changed by dynamic_reconfigure.

  • ~scale (Float, default: 0.2)

    Output image size.

    This parameter can be changed by dynamic_reconfigure.

  • ~upside_down (Bool, default: false)

    Turn the image upside down.

    This parameter can be changed by dynamic_reconfigure.

  • ~offset_degree (Float, default: 180.0)

    Offset degree for Panorama View.

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_perception sample_fisheye_to_panorama.launch